Point Cloud Library (PCL)  1.7.1
normal_3d_omp.h
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40 
41 #ifndef PCL_NORMAL_3D_OMP_H_
42 #define PCL_NORMAL_3D_OMP_H_
43 
44 #include <pcl/features/normal_3d.h>
45 
46 namespace pcl
47 {
48  /** \brief NormalEstimationOMP estimates local surface properties at each 3D point, such as surface normals and
49  * curvatures, in parallel, using the OpenMP standard.
50  * \author Radu Bogdan Rusu
51  * \ingroup features
52  */
53  template <typename PointInT, typename PointOutT>
54  class NormalEstimationOMP: public NormalEstimation<PointInT, PointOutT>
55  {
56  public:
57  typedef boost::shared_ptr<NormalEstimationOMP<PointInT, PointOutT> > Ptr;
58  typedef boost::shared_ptr<const NormalEstimationOMP<PointInT, PointOutT> > ConstPtr;
70 
72 
73  public:
74  /** \brief Initialize the scheduler and set the number of threads to use.
75  * \param nr_threads the number of hardware threads to use (0 sets the value back to automatic)
76  */
77  NormalEstimationOMP (unsigned int nr_threads = 0) : threads_ (nr_threads)
78  {
79  feature_name_ = "NormalEstimationOMP";
80  }
81 
82  /** \brief Initialize the scheduler and set the number of threads to use.
83  * \param nr_threads the number of hardware threads to use (0 sets the value back to automatic)
84  */
85  inline void
86  setNumberOfThreads (unsigned int nr_threads = 0) { threads_ = nr_threads; }
87 
88  protected:
89  /** \brief The number of threads the scheduler should use. */
90  unsigned int threads_;
91 
92  private:
93  /** \brief Estimate normals for all points given in <setInputCloud (), setIndices ()> using the surface in
94  * setSearchSurface () and the spatial locator in setSearchMethod ()
95  * \param output the resultant point cloud model dataset that contains surface normals and curvatures
96  */
97  void
98  computeFeature (PointCloudOut &output);
99  };
100 }
101 
102 #ifdef PCL_NO_PRECOMPILE
103 #include <pcl/features/impl/normal_3d_omp.hpp>
104 #endif
105 
106 #endif //#ifndef PCL_NORMAL_3D_OMP_H_