Point Cloud Library (PCL)  1.3.1
fpfh_omp.h
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00001 /*
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00034  * $Id: fpfh_omp.h 1747 2011-07-13 21:55:45Z mdixon $
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00037 
00038 #ifndef PCL_FPFH_OMP_H_
00039 #define PCL_FPFH_OMP_H_
00040 
00041 #include <pcl/features/feature.h>
00042 #include <pcl/features/fpfh.h>
00043 
00044 namespace pcl
00045 {
00066   template <typename PointInT, typename PointNT, typename PointOutT>
00067   class FPFHEstimationOMP : public FPFHEstimation<PointInT, PointNT, PointOutT>
00068   {
00069     public:
00070       using Feature<PointInT, PointOutT>::feature_name_;
00071       using Feature<PointInT, PointOutT>::getClassName;
00072       using Feature<PointInT, PointOutT>::indices_;
00073       using Feature<PointInT, PointOutT>::k_;
00074       using Feature<PointInT, PointOutT>::search_parameter_;
00075       using Feature<PointInT, PointOutT>::input_;
00076       using Feature<PointInT, PointOutT>::surface_;
00077       using FeatureFromNormals<PointInT, PointNT, PointOutT>::normals_;
00078       using FPFHEstimation<PointInT, PointNT, PointOutT>::hist_f1_;
00079       using FPFHEstimation<PointInT, PointNT, PointOutT>::hist_f2_;
00080       using FPFHEstimation<PointInT, PointNT, PointOutT>::hist_f3_;
00081       using FPFHEstimation<PointInT, PointNT, PointOutT>::weightPointSPFHSignature;
00082 
00083       typedef typename Feature<PointInT, PointOutT>::PointCloudOut PointCloudOut;
00084 
00086       FPFHEstimationOMP () : nr_bins_f1_ (11), nr_bins_f2_ (11), nr_bins_f3_ (11), threads_ (1) 
00087       {
00088         feature_name_ = "FPFHEstimationOMP";
00089       };
00090 
00094       FPFHEstimationOMP (unsigned int nr_threads) : nr_bins_f1_ (11), nr_bins_f2_ (11), nr_bins_f3_ (11)
00095       {
00096         setNumberOfThreads (nr_threads);
00097       }
00098 
00102       inline void 
00103       setNumberOfThreads (unsigned int nr_threads) 
00104       { 
00105         if (nr_threads == 0)
00106           nr_threads = 1;
00107         threads_ = nr_threads; 
00108       }
00109 
00110     private:
00111 
00117       void 
00118       computeFeature (PointCloudOut &output);
00119 
00120     public:
00122       int nr_bins_f1_, nr_bins_f2_, nr_bins_f3_;
00123     private:
00125       unsigned int threads_;
00126   };
00127 }
00128 
00129 #endif  //#ifndef PCL_FPFH_OMP_H_
00130 
00131 
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