Point Cloud Library (PCL) 1.12.0
fpfh_omp.h
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40
41#pragma once
42
43#include <pcl/features/feature.h>
44#include <pcl/features/fpfh.h>
45
46namespace pcl
47{
48 /** \brief FPFHEstimationOMP estimates the Fast Point Feature Histogram (FPFH) descriptor for a given point cloud
49 * dataset containing points and normals, in parallel, using the OpenMP standard.
50 *
51 * \note If you use this code in any academic work, please cite:
52 *
53 * - R.B. Rusu, N. Blodow, M. Beetz.
54 * Fast Point Feature Histograms (FPFH) for 3D Registration.
55 * In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA),
56 * Kobe, Japan, May 12-17 2009.
57 * - R.B. Rusu, A. Holzbach, N. Blodow, M. Beetz.
58 * Fast Geometric Point Labeling using Conditional Random Fields.
59 * In Proceedings of the 22nd IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS),
60 * St. Louis, MO, USA, October 11-15 2009.
61 *
62 * \attention
63 * The convention for FPFH features is:
64 * - if a query point's nearest neighbors cannot be estimated, the FPFH feature will be set to NaN
65 * (not a number)
66 * - it is impossible to estimate a FPFH descriptor for a point that
67 * doesn't have finite 3D coordinates. Therefore, any point that contains
68 * NaN data on x, y, or z, will have its FPFH feature property set to NaN.
69 *
70 * \author Radu B. Rusu
71 * \ingroup features
72 */
73 template <typename PointInT, typename PointNT, typename PointOutT>
74 class FPFHEstimationOMP : public FPFHEstimation<PointInT, PointNT, PointOutT>
75 {
76 public:
77 using Ptr = shared_ptr<FPFHEstimationOMP<PointInT, PointNT, PointOutT> >;
78 using ConstPtr = shared_ptr<const FPFHEstimationOMP<PointInT, PointNT, PointOutT> >;
91
93
94 /** \brief Initialize the scheduler and set the number of threads to use.
95 * \param[in] nr_threads the number of hardware threads to use (0 sets the value back to automatic)
96 */
97 FPFHEstimationOMP (unsigned int nr_threads = 0) : nr_bins_f1_ (11), nr_bins_f2_ (11), nr_bins_f3_ (11)
98 {
99 feature_name_ = "FPFHEstimationOMP";
100
101 setNumberOfThreads(nr_threads);
102 }
103
104 /** \brief Initialize the scheduler and set the number of threads to use.
105 * \param[in] nr_threads the number of hardware threads to use (0 sets the value back to automatic)
106 */
107 void
108 setNumberOfThreads (unsigned int nr_threads = 0);
109
110 private:
111 /** \brief Estimate the Fast Point Feature Histograms (FPFH) descriptors at a set of points given by
112 * <setInputCloud (), setIndices ()> using the surface in setSearchSurface () and the spatial locator in
113 * setSearchMethod ()
114 * \param[out] output the resultant point cloud model dataset that contains the FPFH feature estimates
115 */
116 void
117 computeFeature (PointCloudOut &output) override;
118
119 public:
120 /** \brief The number of subdivisions for each angular feature interval. */
122 private:
123 /** \brief The number of threads the scheduler should use. */
124 unsigned int threads_;
125 };
126}
127
128#ifdef PCL_NO_PRECOMPILE
129#include <pcl/features/impl/fpfh_omp.hpp>
130#endif
FPFHEstimation estimates the Fast Point Feature Histogram (FPFH) descriptor for a given point cloud d...
Definition: fpfh.h:79
FPFHEstimationOMP estimates the Fast Point Feature Histogram (FPFH) descriptor for a given point clou...
Definition: fpfh_omp.h:75
int nr_bins_f1_
The number of subdivisions for each angular feature interval.
Definition: fpfh_omp.h:121
void setNumberOfThreads(unsigned int nr_threads=0)
Initialize the scheduler and set the number of threads to use.
Definition: fpfh_omp.hpp:52
typename Feature< PointInT, PointOutT >::PointCloudOut PointCloudOut
Definition: fpfh_omp.h:92
FPFHEstimationOMP(unsigned int nr_threads=0)
Initialize the scheduler and set the number of threads to use.
Definition: fpfh_omp.h:97
Feature represents the base feature class.
Definition: feature.h:107
shared_ptr< Feature< PointInT, PointOutT > > Ptr
Definition: feature.h:114
std::string feature_name_
The feature name.
Definition: feature.h:223
shared_ptr< const Feature< PointInT, PointOutT > > ConstPtr
Definition: feature.h:115