Point Cloud Library (PCL)  1.3.1
Public Types | Public Member Functions
pcl::SHOTEstimationOMP Class Reference

SHOTEstimation estimates the Signature of Histograms of OrienTations (SHOT) descriptor for a given point cloud dataset containing points and normals, in parallel, using the OpenMP standard. More...

#include <pcl/features/shot_omp.h>

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List of all members.

Public Types

typedef Feature< PointInT,
PointOutT >::PointCloudOut 
PointCloudOut
typedef Feature< PointInT,
PointOutT >::PointCloudIn 
PointCloudIn

Public Member Functions

 SHOTEstimationOMP (unsigned int nr_threads=-1)
 Empty constructor.
void setNumberOfThreads (unsigned int nr_threads)
 Initialize the scheduler and set the number of threads to use.
void computePointSHOT (const int index, const std::vector< int > &indices, const std::vector< float > &dists, Eigen::VectorXf &shot, std::vector< Eigen::Vector4f, Eigen::aligned_allocator< Eigen::Vector4f > > &rf)
 Estimate the SHOT descriptor for a given point based on its spatial neighborhood of 3D points with normals.

Detailed Description

SHOTEstimation estimates the Signature of Histograms of OrienTations (SHOT) descriptor for a given point cloud dataset containing points and normals, in parallel, using the OpenMP standard.

Note:
If you use this code in any academic work, please cite:
Author:
Samuele Salti

Member Typedef Documentation

Reimplemented from pcl::SHOTEstimation< PointInT, PointNT, PointOutT >.

Definition at line 90 of file shot_omp.h.

Reimplemented from pcl::SHOTEstimation< PointInT, PointNT, PointOutT >.

Definition at line 89 of file shot_omp.h.


Constructor & Destructor Documentation

pcl::SHOTEstimationOMP::SHOTEstimationOMP ( unsigned int  nr_threads = - 1) [inline]

Empty constructor.

Definition at line 93 of file shot_omp.h.


Member Function Documentation

void pcl::SHOTEstimation::computePointSHOT ( const int  index,
const std::vector< int > &  indices,
const std::vector< float > &  dists,
Eigen::VectorXf &  shot,
std::vector< Eigen::Vector4f, Eigen::aligned_allocator< Eigen::Vector4f > > &  rf 
) [inherited]

Estimate the SHOT descriptor for a given point based on its spatial neighborhood of 3D points with normals.

Parameters:
indexthe index of the point in input_
indicesthe k-neighborhood point indices in surface_
nr_binsthe number of bins in each histogram
shotthe resultant SHOT descriptor representing the feature at the query point
void pcl::SHOTEstimationOMP::setNumberOfThreads ( unsigned int  nr_threads) [inline]

Initialize the scheduler and set the number of threads to use.

Parameters:
nr_threadsthe number of hardware threads to use (-1 sets the value back to automatic)

Definition at line 102 of file shot_omp.h.


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