shot_omp.h
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#pragma once
#include <pcl/point_types.h>
#include <pcl/features/feature.h>
#include <pcl/features/shot.h>
namespace pcl
{
/** \brief SHOTEstimationOMP 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.
*
* The suggested PointOutT is pcl::SHOT352.
*
* \note If you use this code in any academic work, please cite:
*
* - F. Tombari, S. Salti, L. Di Stefano
* Unique Signatures of Histograms for Local Surface Description.
* In Proceedings of the 11th European Conference on Computer Vision (ECCV),
* Heraklion, Greece, September 5-11 2010.
* - F. Tombari, S. Salti, L. Di Stefano
* A Combined Texture-Shape Descriptor For Enhanced 3D Feature Matching.
* In Proceedings of the 18th International Conference on Image Processing (ICIP),
* Brussels, Belgium, September 11-14 2011.
*
* \author Samuele Salti
* \ingroup features
*/
template <typename PointInT, typename PointNT, typename PointOutT = pcl::SHOT352, typename PointRFT = pcl::ReferenceFrame>
class SHOTEstimationOMP : public SHOTEstimation<PointInT, PointNT, PointOutT, PointRFT>
{
public:
using Ptr = shared_ptr<SHOTEstimationOMP<PointInT, PointNT, PointOutT, PointRFT> >;
using ConstPtr = shared_ptr<const SHOTEstimationOMP<PointInT, PointNT, PointOutT, PointRFT> >;
using Feature<PointInT, PointOutT>::feature_name_;
using Feature<PointInT, PointOutT>::getClassName;
using Feature<PointInT, PointOutT>::input_;
using Feature<PointInT, PointOutT>::indices_;
using Feature<PointInT, PointOutT>::k_;
using Feature<PointInT, PointOutT>::search_parameter_;
using Feature<PointInT, PointOutT>::search_radius_;
using Feature<PointInT, PointOutT>::surface_;
using Feature<PointInT, PointOutT>::fake_surface_;
using FeatureFromNormals<PointInT, PointNT, PointOutT>::normals_;
using FeatureWithLocalReferenceFrames<PointInT, PointRFT>::frames_;
using SHOTEstimationBase<PointInT, PointNT, PointOutT, PointRFT>::lrf_radius_;
using SHOTEstimation<PointInT, PointNT, PointOutT, PointRFT>::descLength_;
using SHOTEstimation<PointInT, PointNT, PointOutT, PointRFT>::nr_grid_sector_;
using SHOTEstimation<PointInT, PointNT, PointOutT, PointRFT>::nr_shape_bins_;
using SHOTEstimation<PointInT, PointNT, PointOutT, PointRFT>::sqradius_;
using SHOTEstimation<PointInT, PointNT, PointOutT, PointRFT>::radius3_4_;
using SHOTEstimation<PointInT, PointNT, PointOutT, PointRFT>::radius1_4_;
using SHOTEstimation<PointInT, PointNT, PointOutT, PointRFT>::radius1_2_;
using PointCloudOut = typename Feature<PointInT, PointOutT>::PointCloudOut;
using PointCloudIn = typename Feature<PointInT, PointOutT>::PointCloudIn;
/** \brief Empty constructor. */
SHOTEstimationOMP (unsigned int nr_threads = 0) : SHOTEstimation<PointInT, PointNT, PointOutT, PointRFT> ()
{
setNumberOfThreads(nr_threads);
};
/** \brief Initialize the scheduler and set the number of threads to use.
* \param nr_threads the number of hardware threads to use (0 sets the value back to automatic)
*/
void
setNumberOfThreads (unsigned int nr_threads = 0);
protected:
/** \brief Estimate the Signatures of Histograms of OrienTations (SHOT) descriptors at a set of points given by
* <setInputCloud (), setIndices ()> using the surface in setSearchSurface () and the spatial locator in
* setSearchMethod ()
* \param output the resultant point cloud model dataset that contains the SHOT feature estimates
*/
void
computeFeature (PointCloudOut &output) override;
/** \brief This method should get called before starting the actual computation. */
bool
initCompute () override;
/** \brief The number of threads the scheduler should use. */
unsigned int threads_;
};
/** \brief SHOTColorEstimationOMP estimates the Signature of Histograms of OrienTations (SHOT) descriptor for a given point cloud dataset
* containing points, normals and colors, in parallel, using the OpenMP standard.
*
* The suggested PointOutT is pcl::SHOT1344.
*
* \note If you use this code in any academic work, please cite:
*
* - F. Tombari, S. Salti, L. Di Stefano
* Unique Signatures of Histograms for Local Surface Description.
* In Proceedings of the 11th European Conference on Computer Vision (ECCV),
* Heraklion, Greece, September 5-11 2010.
* - F. Tombari, S. Salti, L. Di Stefano
* A Combined Texture-Shape Descriptor For Enhanced 3D Feature Matching.
* In Proceedings of the 18th International Conference on Image Processing (ICIP),
* Brussels, Belgium, September 11-14 2011.
*
* \author Samuele Salti
* \ingroup features
*/
template <typename PointInT, typename PointNT, typename PointOutT = pcl::SHOT1344, typename PointRFT = pcl::ReferenceFrame>
class SHOTColorEstimationOMP : public SHOTColorEstimation<PointInT, PointNT, PointOutT, PointRFT>
{
public:
using Ptr = shared_ptr<SHOTColorEstimationOMP<PointInT, PointNT, PointOutT, PointRFT> >;
using ConstPtr = shared_ptr<const SHOTColorEstimationOMP<PointInT, PointNT, PointOutT, PointRFT> >;
using Feature<PointInT, PointOutT>::feature_name_;
using Feature<PointInT, PointOutT>::getClassName;
using Feature<PointInT, PointOutT>::input_;
using Feature<PointInT, PointOutT>::indices_;
using Feature<PointInT, PointOutT>::k_;
using Feature<PointInT, PointOutT>::search_parameter_;
using Feature<PointInT, PointOutT>::search_radius_;
using Feature<PointInT, PointOutT>::surface_;
using Feature<PointInT, PointOutT>::fake_surface_;
using FeatureFromNormals<PointInT, PointNT, PointOutT>::normals_;
using FeatureWithLocalReferenceFrames<PointInT, PointRFT>::frames_;
using SHOTEstimationBase<PointInT, PointNT, PointOutT, PointRFT>::lrf_radius_;
using SHOTColorEstimation<PointInT, PointNT, PointOutT, PointRFT>::descLength_;
using SHOTColorEstimation<PointInT, PointNT, PointOutT, PointRFT>::nr_grid_sector_;
using SHOTColorEstimation<PointInT, PointNT, PointOutT, PointRFT>::nr_shape_bins_;
using SHOTColorEstimation<PointInT, PointNT, PointOutT, PointRFT>::sqradius_;
using SHOTColorEstimation<PointInT, PointNT, PointOutT, PointRFT>::radius3_4_;
using SHOTColorEstimation<PointInT, PointNT, PointOutT, PointRFT>::radius1_4_;
using SHOTColorEstimation<PointInT, PointNT, PointOutT, PointRFT>::radius1_2_;
using SHOTColorEstimation<PointInT, PointNT, PointOutT, PointRFT>::b_describe_shape_;
using SHOTColorEstimation<PointInT, PointNT, PointOutT, PointRFT>::b_describe_color_;
using SHOTColorEstimation<PointInT, PointNT, PointOutT, PointRFT>::nr_color_bins_;
using PointCloudOut = typename Feature<PointInT, PointOutT>::PointCloudOut;
using PointCloudIn = typename Feature<PointInT, PointOutT>::PointCloudIn;
/** \brief Empty constructor. */
SHOTColorEstimationOMP (bool describe_shape = true,
bool describe_color = true,
unsigned int nr_threads = 0)
: SHOTColorEstimation<PointInT, PointNT, PointOutT, PointRFT> (describe_shape, describe_color)
{
setNumberOfThreads(nr_threads);
}
/** \brief Initialize the scheduler and set the number of threads to use.
* \param nr_threads the number of hardware threads to use (0 sets the value back to automatic)
*/
void
setNumberOfThreads (unsigned int nr_threads = 0);
protected:
/** \brief Estimate the Signatures of Histograms of OrienTations (SHOT) descriptors at a set of points given by
* <setInputCloud (), setIndices ()> using the surface in setSearchSurface () and the spatial locator in
* setSearchMethod ()
* \param output the resultant point cloud model dataset that contains the SHOT feature estimates
*/
void
computeFeature (PointCloudOut &output) override;
/** \brief This method should get called before starting the actual computation. */
bool
initCompute () override;
/** \brief The number of threads the scheduler should use. */
unsigned int threads_;
};
}
#ifdef PCL_NO_PRECOMPILE
#include <pcl/features/impl/shot_omp.hpp>
#endif
pcl::FeatureFromNormals
Definition: feature.h:312
pcl::Feature
Feature represents the base feature class.
Definition: feature.h:107
pcl::Feature::Ptr
shared_ptr< Feature< PointInT, PointOutT > > Ptr
Definition: feature.h:114
pcl::Feature::ConstPtr
shared_ptr< const Feature< PointInT, PointOutT > > ConstPtr
Definition: feature.h:115
pcl::FeatureWithLocalReferenceFrames
FeatureWithLocalReferenceFrames provides a public interface for descriptor extractor classes which ne...
Definition: feature.h:449
pcl::PointCloud< PointOutT >
pcl::SHOTColorEstimation
SHOTColorEstimation estimates the Signature of Histograms of OrienTations (SHOT) descriptor for a giv...
Definition: shot.h:299
pcl::SHOTColorEstimationOMP
SHOTColorEstimationOMP estimates the Signature of Histograms of OrienTations (SHOT) descriptor for a ...
Definition: shot_omp.h:149
pcl::SHOTColorEstimationOMP::setNumberOfThreads
void setNumberOfThreads(unsigned int nr_threads=0)
Initialize the scheduler and set the number of threads to use.
Definition: shot_omp.hpp:209
pcl::SHOTColorEstimationOMP::PointCloudOut
typename Feature< PointInT, PointOutT >::PointCloudOut PointCloudOut
Definition: shot_omp.h:176
pcl::SHOTColorEstimationOMP::threads_
unsigned int threads_
The number of threads the scheduler should use.
Definition: shot_omp.h:209
pcl::SHOTColorEstimationOMP::SHOTColorEstimationOMP
SHOTColorEstimationOMP(bool describe_shape=true, bool describe_color=true, unsigned int nr_threads=0)
Empty constructor.
Definition: shot_omp.h:180
pcl::SHOTColorEstimationOMP::computeFeature
void computeFeature(PointCloudOut &output) override
Estimate the Signatures of Histograms of OrienTations (SHOT) descriptors at a set of points given by ...
Definition: shot_omp.hpp:223
pcl::SHOTColorEstimationOMP::initCompute
bool initCompute() override
This method should get called before starting the actual computation.
Definition: shot_omp.hpp:88
pcl::SHOTEstimationBase
SHOTEstimation estimates the Signature of Histograms of OrienTations (SHOT) descriptor for a given po...
Definition: shot.h:71
pcl::SHOTEstimation
SHOTEstimation estimates the Signature of Histograms of OrienTations (SHOT) descriptor for a given po...
Definition: shot.h:221
pcl::SHOTEstimationOMP
SHOTEstimationOMP estimates the Signature of Histograms of OrienTations (SHOT) descriptor for a given...
Definition: shot_omp.h:70
pcl::SHOTEstimationOMP::threads_
unsigned int threads_
The number of threads the scheduler should use.
Definition: shot_omp.h:124
pcl::SHOTEstimationOMP::setNumberOfThreads
void setNumberOfThreads(unsigned int nr_threads=0)
Initialize the scheduler and set the number of threads to use.
Definition: shot_omp.hpp:126
pcl::SHOTEstimationOMP::initCompute
bool initCompute() override
This method should get called before starting the actual computation.
Definition: shot_omp.hpp:50
pcl::SHOTEstimationOMP::computeFeature
void computeFeature(PointCloudOut &output) override
Estimate the Signatures of Histograms of OrienTations (SHOT) descriptors at a set of points given by ...
Definition: shot_omp.hpp:140
pcl::SHOTEstimationOMP::SHOTEstimationOMP
SHOTEstimationOMP(unsigned int nr_threads=0)
Empty constructor.
Definition: shot_omp.h:98
pcl::SHOTEstimationOMP::PointCloudOut
typename Feature< PointInT, PointOutT >::PointCloudOut PointCloudOut
Definition: shot_omp.h:94
point_types.h
Defines all the PCL implemented PointT point type structures.
pcl
Definition: convolution.h:46