fast_edge_estimation_3d_omp.hpp

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#ifndef __IMPL_FAST_EDGE_ESTIMATION_3D_OMP_H__
#define __IMPL_FAST_EDGE_ESTIMATION_3D_OMP_H__

#include "cob_3d_features/fast_edge_estimation_3d_omp.h"

template <typename PointInT, typename PointNT, typename PointOutT> void
cob_3d_features::FastEdgeEstimation3DOMP<PointInT, PointNT, PointOutT>::computeFeature (
  PointCloudOut &output)
{
  int threadsize = 1;

#pragma omp parallel for schedule (dynamic, threadsize)
  for (size_t i=0; i < indices_->size(); ++i)
  {
    Eigen::Vector3f normal;
    std::vector<int> nn_indices;
    if (isnan(normals_->points[(*indices_)[i]].normal[0]))
      output.points[(*indices_)[i]].strength=2;
    else
    {
      this->searchForNeighbors ((*indices_)[i], nn_indices);

      normal[0] = normals_->points[(*indices_)[i]].normal_x;
      normal[1] = normals_->points[(*indices_)[i]].normal_y;
      normal[2] = normals_->points[(*indices_)[i]].normal_z;
      // Estimate whether the point is lying on a boundary surface or not
      isEdgePoint (*surface_, input_->points[(*indices_)[i]], nn_indices,
                   normal, output.points[(*indices_)[i]].strength);
    }
  }
}

#define PCL_INSTANTIATE_FastEdgeEstimation3DOMP(PointInT,PointNT,PointOutT) template class PCL_EXPORTS cob_3d_features::FastEdgeEstimation3DOMP<PointInT, PointNT, PointOutT>;

#endif    // __IMPL_FAST_EDGE_ESTIMATION_3D_H__