Point Cloud Library (PCL)  1.3.1
shot_omp.h
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00036 
00037 #ifndef PCL_SHOT_OMP_H_
00038 #define PCL_SHOT_OMP_H_
00039 
00040 #include <pcl/point_types.h>
00041 #include <pcl/features/feature.h>
00042 #include <pcl/features/shot.h>
00043 
00044 namespace pcl
00045 {
00068   template <typename PointInT, typename PointNT, typename PointOutT> 
00069   class SHOTEstimationOMP : public SHOTEstimation<PointInT, PointNT, PointOutT>
00070   {
00071     public:
00072       using Feature<PointInT, PointOutT>::feature_name_;
00073       using Feature<PointInT, PointOutT>::getClassName;
00074       using Feature<PointInT, PointOutT>::indices_;
00075       using Feature<PointInT, PointOutT>::k_;
00076       using Feature<PointInT, PointOutT>::search_parameter_;
00077       using Feature<PointInT, PointOutT>::search_radius_;
00078       using Feature<PointInT, PointOutT>::surface_;
00079       using FeatureFromNormals<PointInT, PointNT, PointOutT>::normals_;
00080       using SHOTEstimation<PointInT, PointNT, PointOutT>::descLength_;
00081       using SHOTEstimation<PointInT, PointNT, PointOutT>::nr_grid_sector_;
00082       using SHOTEstimation<PointInT, PointNT, PointOutT>::nr_shape_bins_;
00083       using SHOTEstimation<PointInT, PointNT, PointOutT>::sqradius_;
00084       using SHOTEstimation<PointInT, PointNT, PointOutT>::radius3_4_;
00085       using SHOTEstimation<PointInT, PointNT, PointOutT>::radius1_4_;
00086       using SHOTEstimation<PointInT, PointNT, PointOutT>::radius1_2_;
00087       using SHOTEstimation<PointInT, PointNT, PointOutT>::rf_;
00088 
00089       typedef typename Feature<PointInT, PointOutT>::PointCloudOut PointCloudOut;
00090       typedef typename Feature<PointInT, PointOutT>::PointCloudIn PointCloudIn;
00091 
00093       SHOTEstimationOMP (unsigned int nr_threads = - 1) : SHOTEstimation<PointInT, PointNT, PointOutT> ()
00094       {
00095         setNumberOfThreads (nr_threads);
00096       }
00097 
00101       inline void
00102       setNumberOfThreads (unsigned int nr_threads)
00103       {
00104         if (nr_threads == 0)
00105           nr_threads = 1;
00106         threads_ = nr_threads;
00107       }
00108 
00109     protected:
00110 
00116       void 
00117       computeFeature (PointCloudOut &output);
00118 
00120       int threads_;
00121   };
00122 
00123 
00124   template <typename PointNT, typename PointOutT> 
00125   class SHOTEstimationOMP<pcl::PointXYZRGBA, PointNT, PointOutT> : public SHOTEstimation<pcl::PointXYZRGBA, PointNT, PointOutT>
00126   {
00127     public:
00128       using Feature<pcl::PointXYZRGBA, PointOutT>::feature_name_;
00129       using Feature<pcl::PointXYZRGBA, PointOutT>::getClassName;
00130       using Feature<pcl::PointXYZRGBA, PointOutT>::indices_;
00131       using Feature<pcl::PointXYZRGBA, PointOutT>::k_;
00132       using Feature<pcl::PointXYZRGBA, PointOutT>::search_parameter_;
00133       using Feature<pcl::PointXYZRGBA, PointOutT>::search_radius_;
00134       using Feature<pcl::PointXYZRGBA, PointOutT>::surface_;
00135       using FeatureFromNormals<pcl::PointXYZRGBA, PointNT, PointOutT>::normals_;
00136       using SHOTEstimation<pcl::PointXYZRGBA, PointNT, PointOutT>::descLength_;
00137       using SHOTEstimation<pcl::PointXYZRGBA, PointNT, PointOutT>::nr_grid_sector_;
00138       using SHOTEstimation<pcl::PointXYZRGBA, PointNT, PointOutT>::nr_shape_bins_;
00139       using SHOTEstimation<pcl::PointXYZRGBA, PointNT, PointOutT>::sqradius_;
00140        using SHOTEstimation<pcl::PointXYZRGBA, PointNT, PointOutT>::radius3_4_;
00141       using SHOTEstimation<pcl::PointXYZRGBA, PointNT, PointOutT>::radius1_4_;
00142       using SHOTEstimation<pcl::PointXYZRGBA, PointNT, PointOutT>::radius1_2_;
00143       using SHOTEstimation<pcl::PointXYZRGBA, PointNT, PointOutT>::rf_;
00144       using SHOTEstimation<pcl::PointXYZRGBA, PointNT, PointOutT>::b_describe_shape_;
00145       using SHOTEstimation<pcl::PointXYZRGBA, PointNT, PointOutT>::b_describe_color_;
00146       using SHOTEstimation<pcl::PointXYZRGBA, PointNT, PointOutT>::nr_color_bins_;
00147 
00148       typedef typename Feature<pcl::PointXYZRGBA, PointOutT>::PointCloudOut PointCloudOut;
00149       typedef typename Feature<pcl::PointXYZRGBA, PointOutT>::PointCloudIn PointCloudIn;
00150 
00152       SHOTEstimationOMP (bool describeShape = true, 
00153                          bool describeColor = false, 
00154                          unsigned int nr_threads = - 1) 
00155         : SHOTEstimation<pcl::PointXYZRGBA, PointNT, PointOutT> (describeShape, describeColor)
00156       {
00157         setNumberOfThreads (nr_threads);
00158       }
00159 
00163       inline void
00164       setNumberOfThreads (unsigned int nr_threads)
00165       {
00166         if (nr_threads == 0)
00167           nr_threads = 1;
00168         threads_ = nr_threads;
00169       }
00170 
00171     private:
00172 
00178       void 
00179       computeFeature (PointCloudOut &output);
00180 
00182       int threads_;
00183   };
00184 }
00185 
00186 #endif  //#ifndef PCL_SHOT_OMP_H_
00187 
00188 
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