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shot_lrf_omp.h
/*
* Software License Agreement (BSD License)
*
* Point Cloud Library (PCL) - www.pointclouds.org
* Copyright (c) 2010-2012, Willow Garage, Inc.
* Copyright (c) 2012-, Open Perception, Inc.
*
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* modification, are permitted provided that the following conditions
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*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
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* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* $Id$
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#pragma once
#include <pcl/point_types.h>
#include <pcl/features/feature.h>
#include <pcl/features/shot_lrf.h>
namespace pcl
{
/** \brief SHOTLocalReferenceFrameEstimation estimates the Local Reference Frame used in the calculation
* of the (SHOT) descriptor.
*
* \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, Federico Tombari
* \ingroup features
*/
template<typename PointInT, typename PointOutT = ReferenceFrame>
class SHOTLocalReferenceFrameEstimationOMP : public SHOTLocalReferenceFrameEstimation<PointInT, PointOutT>
{
public:
using Ptr = shared_ptr<SHOTLocalReferenceFrameEstimationOMP<PointInT, PointOutT> >;
using ConstPtr = shared_ptr<const SHOTLocalReferenceFrameEstimationOMP<PointInT, PointOutT> >;
/** \brief Constructor */
SHOTLocalReferenceFrameEstimationOMP ()
{
feature_name_ = "SHOTLocalReferenceFrameEstimationOMP";
setNumberOfThreads(0);
}
/** \brief Empty destructor */
~SHOTLocalReferenceFrameEstimationOMP () override = default;
/** \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:
using Feature<PointInT, PointOutT>::feature_name_;
using Feature<PointInT, PointOutT>::getClassName;
//using Feature<PointInT, PointOutT>::searchForNeighbors;
using Feature<PointInT, PointOutT>::input_;
using Feature<PointInT, PointOutT>::indices_;
using Feature<PointInT, PointOutT>::surface_;
using Feature<PointInT, PointOutT>::tree_;
using Feature<PointInT, PointOutT>::search_parameter_;
using SHOTLocalReferenceFrameEstimation<PointInT, PointOutT>::getLocalRF;
using PointCloudIn = typename Feature<PointInT, PointOutT>::PointCloudIn;
using PointCloudOut = typename Feature<PointInT, PointOutT>::PointCloudOut;
/** \brief Feature estimation method.
* \param[out] output the resultant features
*/
void
computeFeature (PointCloudOut &output) override;
/** \brief The number of threads the scheduler should use. */
unsigned int threads_;
};
}
#ifdef PCL_NO_PRECOMPILE
#include <pcl/features/impl/shot_lrf_omp.hpp>
#endif
pcl::Feature
Feature represents the base feature class.
Definition feature.h:107
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::feature_name_
std::string feature_name_
The feature name.
Definition feature.h:220
pcl::Feature::tree_
KdTreePtr tree_
A pointer to the spatial search object.
Definition feature.h:231
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::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::PointCloud< PointInT >
pcl::SHOTLocalReferenceFrameEstimation
SHOTLocalReferenceFrameEstimation estimates the Local Reference Frame used in the calculation of the ...
Definition shot_lrf.h:66
pcl::SHOTLocalReferenceFrameEstimation::getLocalRF
float getLocalRF(const int &index, Eigen::Matrix3f &rf)
Computes disambiguated local RF for a point index.
Definition shot_lrf.hpp:50
pcl::SHOTLocalReferenceFrameEstimationOMP
SHOTLocalReferenceFrameEstimation estimates the Local Reference Frame used in the calculation of the ...
Definition shot_lrf_omp.h:67
pcl::SHOTLocalReferenceFrameEstimationOMP::threads_
unsigned int threads_
The number of threads the scheduler should use.
Definition shot_lrf_omp.h:108
pcl::SHOTLocalReferenceFrameEstimationOMP::SHOTLocalReferenceFrameEstimationOMP
SHOTLocalReferenceFrameEstimationOMP()
Constructor.
Definition shot_lrf_omp.h:72
pcl::SHOTLocalReferenceFrameEstimationOMP::ConstPtr
shared_ptr< const SHOTLocalReferenceFrameEstimationOMP< PointInT, PointOutT > > ConstPtr
Definition shot_lrf_omp.h:70
pcl::SHOTLocalReferenceFrameEstimationOMP::~SHOTLocalReferenceFrameEstimationOMP
~SHOTLocalReferenceFrameEstimationOMP() override=default
Empty destructor.
pcl::SHOTLocalReferenceFrameEstimationOMP::Ptr
shared_ptr< SHOTLocalReferenceFrameEstimationOMP< PointInT, PointOutT > > Ptr
Definition shot_lrf_omp.h:69
pcl::SHOTLocalReferenceFrameEstimationOMP::computeFeature
void computeFeature(PointCloudOut &output) override
Feature estimation method.
Definition shot_lrf_omp.hpp:62
pcl::SHOTLocalReferenceFrameEstimationOMP::setNumberOfThreads
void setNumberOfThreads(unsigned int nr_threads=0)
Initialize the scheduler and set the number of threads to use.
Definition shot_lrf_omp.hpp:48
pcl::SHOTLocalReferenceFrameEstimationOMP::PointCloudOut
typename Feature< PointInT, PointOutT >::PointCloudOut PointCloudOut
Definition shot_lrf_omp.h:99
pcl::SHOTLocalReferenceFrameEstimationOMP::PointCloudIn
typename Feature< PointInT, PointOutT >::PointCloudIn PointCloudIn
Definition shot_lrf_omp.h:98
point_types.h
Defines all the PCL implemented PointT point type structures.
pcl
Definition convolution.h:46