normal_3d_tbb.hpp

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 * $Id: normal_3d_tbb.hpp 35810 2011-02-08 00:03:46Z rusu $
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#ifndef PCL_FEATURES_IMPL_NORMAL_3D_TBB_H_
#define PCL_FEATURES_IMPL_NORMAL_3D_TBB_H_

#include "pcl/features/normal_3d_tbb.h"

template <typename PointInT, typename PointOutT> void
pcl::TBB_NormalEstimationTBB<PointInT, PointOutT>::operator () (const tbb::blocked_range <size_t> &r) const
{
  float vpx, vpy, vpz;
  feature_->getViewPoint (vpx, vpy, vpz);
  // Iterating over the entire index vector
  for (size_t idx = r.begin (); idx != r.end (); ++idx)
  {
    std::vector<int> nn_indices (feature_->getKSearch ());
    std::vector<float> nn_dists (feature_->getKSearch ());

    feature_->searchForNeighbors ((*feature_->getIndices ())[idx], feature_->getSearchParameter (), nn_indices, nn_dists);

    // 16-bytes aligned placeholder for the XYZ centroid of a surface patch
    Eigen::Vector4f xyz_centroid;
    // Estimate the XYZ centroid
    compute3DCentroid (*feature_->getSearchSurface (), nn_indices, xyz_centroid);

    // Placeholder for the 3x3 covariance matrix at each surface patch
    EIGEN_ALIGN16 Eigen::Matrix3f covariance_matrix;
    // Compute the 3x3 covariance matrix
    computeCovarianceMatrix (*feature_->getSearchSurface (), nn_indices, xyz_centroid, covariance_matrix);

    // Get the plane normal and surface curvature
    solvePlaneParameters (covariance_matrix,
                          output_.points[idx].normal[0], output_.points[idx].normal[1], output_.points[idx].normal[2], output_.points[idx].curvature);

    flipNormalTowardsViewpoint<PointInT> (feature_->getSearchSurface ()->points[idx], vpx, vpy, vpz,
                                          output_.points[idx].normal[0], output_.points[idx].normal[1], output_.points[idx].normal[2]);
  }
}

#define PCL_INSTANTIATE_TBB_NormalEstimationTBB(T,NT) template class pcl::TBB_NormalEstimationTBB<T,NT>;
#define PCL_INSTANTIATE_NormalEstimationTBB(T,NT) template class pcl::NormalEstimationTBB<T,NT>;

#endif    // PCL_FEATURES_IMPL_NORMAL_3D_TBB_H_

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