Point Cloud Library (PCL)  1.3.1
normal_3d_omp.hpp
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00001 /*
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00034  * $Id: normal_3d_omp.hpp 2395 2011-09-06 16:20:51Z rusu $
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00037 
00038 #ifndef PCL_FEATURES_IMPL_NORMAL_3D_OMP_H_
00039 #define PCL_FEATURES_IMPL_NORMAL_3D_OMP_H_
00040 
00041 #include "pcl/features/normal_3d_omp.h"
00042 
00044 template <typename PointInT, typename PointOutT> void
00045 pcl::NormalEstimationOMP<PointInT, PointOutT>::computeFeature (PointCloudOut &output)
00046 {
00047   float vpx, vpy, vpz;
00048   getViewPoint (vpx, vpy, vpz);
00049   // Iterating over the entire index vector
00050 #pragma omp parallel for schedule (dynamic, threads_)
00051   for (int idx = 0; idx < (int)indices_->size (); ++idx)
00052   {
00053     // Allocate enough space to hold the results
00054     // \note This resize is irrelevant for a radiusSearch ().
00055     std::vector<int> nn_indices (k_);
00056     std::vector<float> nn_dists (k_);
00057 
00058     this->searchForNeighbors ((*indices_)[idx], search_parameter_, nn_indices, nn_dists);
00059 
00060     // 16-bytes aligned placeholder for the XYZ centroid of a surface patch
00061     Eigen::Vector4f xyz_centroid;
00062     // Estimate the XYZ centroid
00063     compute3DCentroid (*surface_, nn_indices, xyz_centroid);
00064 
00065     // Placeholder for the 3x3 covariance matrix at each surface patch
00066     EIGEN_ALIGN16 Eigen::Matrix3f covariance_matrix;
00067     // Compute the 3x3 covariance matrix
00068     computeCovarianceMatrix (*surface_, nn_indices, xyz_centroid, covariance_matrix);
00069 
00070     // Get the plane normal and surface curvature
00071     solvePlaneParameters (covariance_matrix,
00072                           output.points[idx].normal[0], output.points[idx].normal[1], output.points[idx].normal[2], output.points[idx].curvature);
00073 
00074     flipNormalTowardsViewpoint (input_->points[(*indices_)[idx]], vpx, vpy, vpz,
00075                                 output.points[idx].normal[0], output.points[idx].normal[1], output.points[idx].normal[2]);
00076   }
00077 }
00078 
00079 #define PCL_INSTANTIATE_NormalEstimationOMP(T,NT) template class PCL_EXPORTS pcl::NormalEstimationOMP<T,NT>;
00080 
00081 #endif    // PCL_FEATURES_IMPL_NORMAL_3D_OMP_H_
00082 
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