Point Cloud Library (PCL)
1.3.1
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00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2009, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of Willow Garage, Inc. nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. 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 * $Id: fpfh_omp.h 1747 2011-07-13 21:55:45Z mdixon $ 00035 * 00036 */ 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