Point Cloud Library (PCL)
1.3.1
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IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 * 00034 * 00035 */ 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