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normal_3d_omp.h
/*
* Software License Agreement (BSD License)
*
* Point Cloud Library (PCL) - www.pointclouds.org
* Copyright (c) 2010-2011, Willow Garage, Inc.
* Copyright (c) 2012-, Open Perception, Inc.
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#pragma once
#include <pcl/features/normal_3d.h>
namespace pcl
{
/** \brief NormalEstimationOMP estimates local surface properties at each 3D point, such as surface normals and
* curvatures, in parallel, using the OpenMP standard.
* \author Radu Bogdan Rusu
* \ingroup features
*/
template <typename PointInT, typename PointOutT>
class NormalEstimationOMP: public NormalEstimation<PointInT, PointOutT>
{
public:
using Ptr = shared_ptr<NormalEstimationOMP<PointInT, PointOutT> >;
using ConstPtr = shared_ptr<const NormalEstimationOMP<PointInT, PointOutT> >;
using NormalEstimation<PointInT, PointOutT>::feature_name_;
using NormalEstimation<PointInT, PointOutT>::getClassName;
using NormalEstimation<PointInT, PointOutT>::indices_;
using NormalEstimation<PointInT, PointOutT>::input_;
using NormalEstimation<PointInT, PointOutT>::k_;
using NormalEstimation<PointInT, PointOutT>::vpx_;
using NormalEstimation<PointInT, PointOutT>::vpy_;
using NormalEstimation<PointInT, PointOutT>::vpz_;
using NormalEstimation<PointInT, PointOutT>::search_parameter_;
using NormalEstimation<PointInT, PointOutT>::surface_;
using NormalEstimation<PointInT, PointOutT>::getViewPoint;
using PointCloudOut = typename NormalEstimation<PointInT, PointOutT>::PointCloudOut;
public:
/** \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)
* \param chunk_size PCL will use dynamic scheduling with this chunk size. Setting it too low will lead to more parallelization overhead. Setting it too high will lead to a worse balancing between the threads.
*/
NormalEstimationOMP (unsigned int nr_threads = 0, int chunk_size = 256): chunk_size_(chunk_size)
{
feature_name_ = "NormalEstimationOMP";
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 The number of threads the scheduler should use. */
unsigned int threads_;
/** \brief Chunk size for (dynamic) scheduling. */
int chunk_size_;
private:
/** \brief Estimate normals for all points given in <setInputCloud (), setIndices ()> using the surface in
* setSearchSurface () and the spatial locator in setSearchMethod ()
* \param output the resultant point cloud model dataset that contains surface normals and curvatures
*/
void
computeFeature (PointCloudOut &output) override;
};
}
#ifdef PCL_NO_PRECOMPILE
#include <pcl/features/impl/normal_3d_omp.hpp>
#endif
pcl::Feature::search_parameter_
double search_parameter_
The actual search parameter (from either search_radius_ or k_).
Definition feature.h:234
pcl::Feature::getClassName
const std::string & getClassName() const
Get a string representation of the name of this class.
Definition feature.h:244
pcl::Feature::k_
int k_
The number of K nearest neighbors to use for each point.
Definition feature.h:240
pcl::Feature::feature_name_
std::string feature_name_
The feature name.
Definition feature.h:220
pcl::Feature::surface_
PointCloudInConstPtr surface_
An input point cloud describing the surface that is to be used for nearest neighbors estimation.
Definition feature.h:228
pcl::NormalEstimation
NormalEstimation estimates local surface properties (surface normals and curvatures)at each 3D point.
Definition normal_3d.h:244
pcl::NormalEstimation::vpz_
float vpz_
Definition normal_3d.h:402
pcl::NormalEstimation::vpx_
float vpx_
Values describing the viewpoint ("pinhole" camera model assumed).
Definition normal_3d.h:402
pcl::NormalEstimation::PointCloudOut
typename Feature< PointInT, PointOutT >::PointCloudOut PointCloudOut
Definition normal_3d.h:257
pcl::NormalEstimation::vpy_
float vpy_
Definition normal_3d.h:402
pcl::NormalEstimation::getViewPoint
void getViewPoint(float &vpx, float &vpy, float &vpz)
Get the viewpoint.
Definition normal_3d.h:362
pcl::NormalEstimationOMP
NormalEstimationOMP estimates local surface properties at each 3D point, such as surface normals and ...
Definition normal_3d_omp.h:54
pcl::NormalEstimationOMP::chunk_size_
int chunk_size_
Chunk size for (dynamic) scheduling.
Definition normal_3d_omp.h:95
pcl::NormalEstimationOMP::PointCloudOut
typename NormalEstimation< PointInT, PointOutT >::PointCloudOut PointCloudOut
Definition normal_3d_omp.h:70
pcl::NormalEstimationOMP::ConstPtr
shared_ptr< const NormalEstimationOMP< PointInT, PointOutT > > ConstPtr
Definition normal_3d_omp.h:57
pcl::NormalEstimationOMP::threads_
unsigned int threads_
The number of threads the scheduler should use.
Definition normal_3d_omp.h:92
pcl::NormalEstimationOMP::setNumberOfThreads
void setNumberOfThreads(unsigned int nr_threads=0)
Initialize the scheduler and set the number of threads to use.
Definition normal_3d_omp.hpp:48
pcl::NormalEstimationOMP::Ptr
shared_ptr< NormalEstimationOMP< PointInT, PointOutT > > Ptr
Definition normal_3d_omp.h:56
pcl::NormalEstimationOMP::NormalEstimationOMP
NormalEstimationOMP(unsigned int nr_threads=0, int chunk_size=256)
Initialize the scheduler and set the number of threads to use.
Definition normal_3d_omp.h:77
pcl::PCLBase< PointInT >::input_
PointCloudConstPtr input_
The input point cloud dataset.
Definition pcl_base.h:147
pcl::PCLBase< PointInT >::indices_
IndicesPtr indices_
A pointer to the vector of point indices to use.
Definition pcl_base.h:150
pcl
Definition convolution.h:46