Point Cloud Library (PCL)  1.3.1
normal_3d_omp.h
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00001 /*
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00034  * $Id: normal_3d_omp.h 2395 2011-09-06 16:20:51Z rusu $
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00037 
00038 #ifndef PCL_NORMAL_3D_OMP_H_
00039 #define PCL_NORMAL_3D_OMP_H_
00040 
00041 #include <pcl/features/normal_3d.h>
00042 
00043 namespace pcl
00044 {
00050   template <typename PointInT, typename PointOutT>
00051   class NormalEstimationOMP: public NormalEstimation<PointInT, PointOutT>
00052   {
00053     public:
00054       using Feature<PointInT, PointOutT>::feature_name_;
00055       using Feature<PointInT, PointOutT>::getClassName;
00056       using Feature<PointInT, PointOutT>::indices_;
00057       using Feature<PointInT, PointOutT>::input_;
00058       using Feature<PointInT, PointOutT>::k_;
00059       using Feature<PointInT, PointOutT>::search_parameter_;
00060       using Feature<PointInT, PointOutT>::surface_;
00061       using NormalEstimation<PointInT, PointOutT>::getViewPoint;
00062 
00063       typedef typename NormalEstimation<PointInT, PointOutT>::PointCloudOut PointCloudOut;
00064 
00065     public:
00067       NormalEstimationOMP () : threads_ (1) 
00068       {
00069         feature_name_ = "NormalEstimationOMP";
00070       };
00071 
00075       NormalEstimationOMP (unsigned int nr_threads)
00076       {
00077         setNumberOfThreads (nr_threads);
00078         feature_name_ = "NormalEstimationOMP";
00079       }
00080 
00084       inline void 
00085       setNumberOfThreads (unsigned int nr_threads)
00086       { 
00087         if (nr_threads == 0)
00088           nr_threads = 1;
00089         threads_ = nr_threads; 
00090       }
00091 
00092 
00093     private:
00094 
00099       void 
00100       computeFeature (PointCloudOut &output);
00101 
00102     private:
00104       unsigned int threads_;
00105 
00106   };
00107 }
00108 
00109 #endif  //#ifndef PCL_NORMAL_3D_OMP_H_
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