normal_3d_tbb.h

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 * $Id: normal_3d_tbb.h 35659 2011-02-01 05:57:51Z rusu $
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#ifndef PCL_NORMAL_3D_TBB_H_
#define PCL_NORMAL_3D_TBB_H_

//#include "pcl/pcl_config.h"
//#if defined(HAVE_TBB)

#include <pcl/features/normal_3d.h>

// TBB includes
#include <tbb/parallel_for.h>
#include <tbb/blocked_range.h>
#include <tbb/task_scheduler_init.h>

namespace pcl
{
  template <typename PointInT, typename PointOutT> class TBB_NormalEstimationTBB;

  template <typename PointInT, typename PointOutT>
  class NormalEstimationTBB: public NormalEstimation<PointInT, PointOutT>
  {
    public:
      using Feature<PointInT, PointOutT>::feature_name_;
      using Feature<PointInT, PointOutT>::getClassName;
      using Feature<PointInT, PointOutT>::indices_;

      typedef typename NormalEstimation<PointInT, PointOutT>::PointCloudOut PointCloudOut;
      typedef boost::shared_ptr <Feature<PointInT, PointOutT> > FeaturePtr;

      NormalEstimationTBB ()
      {
        scheduler_.initialize (tbb::task_scheduler_init::automatic);
        feature_name_ = "NormalEstimationTBB";
      }

      NormalEstimationTBB (int nr_threads)
      {
        setNumberOfThreads (nr_threads);
        feature_name_ = "NormalEstimationTBB";
      }

      inline void setNumberOfThreads (int nr_threads) { scheduler_.initialize (nr_threads); }

      virtual ~NormalEstimationTBB ()
      {
        scheduler_.terminate ();
      }

    private:

      inline void
      computeFeature (PointCloudOut &output)
      {
        tbb::parallel_for (tbb::blocked_range <size_t> (0, indices_->size ()),
                           TBB_NormalEstimationTBB<PointInT, PointOutT> (this, output));
      }

    private:
      tbb::task_scheduler_init scheduler_;
  };

  template <typename PointInT, typename PointOutT>
  class TBB_NormalEstimationTBB
  {
    typedef typename Feature<PointInT, PointOutT>::PointCloudOut PointCloudOut;

    NormalEstimationTBB<PointInT, PointOutT> *feature_;
    PointCloudOut &output_;

    public:
      void operator () (const tbb::blocked_range <size_t> &r) const;

      TBB_NormalEstimationTBB (NormalEstimationTBB<PointInT, PointOutT> *feature, PointCloudOut &output): feature_ (feature), output_ (output) {}
  };
}

//#endif  // HAVE_TBB

#endif  //#ifndef PCL_NORMAL_3D_TBB_H_

---

pcl
Author(s): See http://pcl.ros.org/authors for the complete list of authors.
autogenerated on Fri Jan 11 09:55:22 2013