Point Cloud Library (PCL)
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include
pcl
features
fpfh_omp.h
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/*
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* Software License Agreement (BSD License)
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*
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* Point Cloud Library (PCL) - www.pointclouds.org
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* Copyright (c) 2009, Willow Garage, Inc.
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* Copyright (c) 2012-, Open Perception, Inc.
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*
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of the copyright holder(s) nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* POSSIBILITY OF SUCH DAMAGE.
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*
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* $Id$
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*
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*/
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#ifndef PCL_FPFH_OMP_H_
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#define PCL_FPFH_OMP_H_
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#include <pcl/features/feature.h>
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#include <pcl/features/fpfh.h>
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namespace
pcl
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{
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/** \brief FPFHEstimationOMP estimates the Fast Point Feature Histogram (FPFH) descriptor for a given point cloud
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* dataset containing points and normals, in parallel, using the OpenMP standard.
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*
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* \note If you use this code in any academic work, please cite:
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*
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* - R.B. Rusu, N. Blodow, M. Beetz.
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* Fast Point Feature Histograms (FPFH) for 3D Registration.
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* In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA),
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* Kobe, Japan, May 12-17 2009.
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* - R.B. Rusu, A. Holzbach, N. Blodow, M. Beetz.
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* Fast Geometric Point Labeling using Conditional Random Fields.
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* In Proceedings of the 22nd IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS),
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* St. Louis, MO, USA, October 11-15 2009.
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*
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* \attention
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* The convention for FPFH features is:
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* - if a query point's nearest neighbors cannot be estimated, the FPFH feature will be set to NaN
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* (not a number)
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* - it is impossible to estimate a FPFH descriptor for a point that
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* doesn't have finite 3D coordinates. Therefore, any point that contains
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* NaN data on x, y, or z, will have its FPFH feature property set to NaN.
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*
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* \author Radu B. Rusu
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* \ingroup features
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*/
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template
<
typename
Po
int
InT,
typename
Po
int
NT,
typename
Po
int
OutT>
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class
FPFHEstimationOMP
:
public
FPFHEstimation
<PointInT, PointNT, PointOutT>
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{
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public
:
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typedef
boost::shared_ptr<FPFHEstimationOMP<PointInT, PointNT, PointOutT> >
Ptr
;
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typedef
boost::shared_ptr<const FPFHEstimationOMP<PointInT, PointNT, PointOutT> >
ConstPtr
;
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using
Feature<PointInT, PointOutT>::feature_name_
;
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using
Feature<PointInT, PointOutT>::getClassName
;
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using
Feature<PointInT, PointOutT>::indices_
;
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using
Feature<PointInT, PointOutT>::k_
;
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using
Feature<PointInT, PointOutT>::search_parameter_
;
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using
Feature<PointInT, PointOutT>::input_
;
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using
Feature<PointInT, PointOutT>::surface_
;
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using
FeatureFromNormals<PointInT, PointNT, PointOutT>::normals_
;
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using
FPFHEstimation<PointInT, PointNT, PointOutT>::hist_f1_
;
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using
FPFHEstimation<PointInT, PointNT, PointOutT>::hist_f2_
;
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using
FPFHEstimation<PointInT, PointNT, PointOutT>::hist_f3_
;
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using
FPFHEstimation<PointInT, PointNT, PointOutT>::weightPointSPFHSignature
;
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typedef
typename
Feature<PointInT, PointOutT>::PointCloudOut
PointCloudOut
;
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/** \brief Initialize the scheduler and set the number of threads to use.
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* \param[in] nr_threads the number of hardware threads to use (0 sets the value back to automatic)
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*/
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FPFHEstimationOMP
(
unsigned
int
nr_threads = 0) :
nr_bins_f1_
(11),
nr_bins_f2_
(11),
nr_bins_f3_
(11), threads_ (nr_threads)
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{
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feature_name_
=
"FPFHEstimationOMP"
;
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}
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/** \brief Initialize the scheduler and set the number of threads to use.
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* \param[in] nr_threads the number of hardware threads to use (0 sets the value back to automatic)
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*/
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inline
void
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setNumberOfThreads
(
unsigned
int
nr_threads = 0) { threads_ = nr_threads; }
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private
:
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/** \brief Estimate the Fast Point Feature Histograms (FPFH) descriptors at a set of points given by
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* <setInputCloud (), setIndices ()> using the surface in setSearchSurface () and the spatial locator in
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* setSearchMethod ()
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* \param[out] output the resultant point cloud model dataset that contains the FPFH feature estimates
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*/
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void
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computeFeature (
PointCloudOut
&output);
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public
:
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/** \brief The number of subdivisions for each angular feature interval. */
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int
nr_bins_f1_
,
nr_bins_f2_
,
nr_bins_f3_
;
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private
:
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/** \brief The number of threads the scheduler should use. */
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unsigned
int
threads_;
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};
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}
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#ifdef PCL_NO_PRECOMPILE
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#include <pcl/features/impl/fpfh_omp.hpp>
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#endif
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#endif //#ifndef PCL_FPFH_OMP_H_