fpfh_omp.h
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00001 /*
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00034  * $Id: fpfh_omp.h 4864 2012-03-01 01:11:22Z rusu $
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00037 
00038 #ifndef PCL_FPFH_OMP_H_
00039 #define PCL_FPFH_OMP_H_
00040 
00041 #include <pcl/features/feature.h>
00042 #include <pcl/features/fpfh.h>
00043 
00044 namespace pcl
00045 {
00071   template <typename PointInT, typename PointNT, typename PointOutT>
00072   class FPFHEstimationOMP : public FPFHEstimation<PointInT, PointNT, PointOutT>
00073   {
00074     public:
00075       using Feature<PointInT, PointOutT>::feature_name_;
00076       using Feature<PointInT, PointOutT>::getClassName;
00077       using Feature<PointInT, PointOutT>::indices_;
00078       using Feature<PointInT, PointOutT>::k_;
00079       using Feature<PointInT, PointOutT>::search_parameter_;
00080       using Feature<PointInT, PointOutT>::input_;
00081       using Feature<PointInT, PointOutT>::surface_;
00082       using FeatureFromNormals<PointInT, PointNT, PointOutT>::normals_;
00083       using FPFHEstimation<PointInT, PointNT, PointOutT>::hist_f1_;
00084       using FPFHEstimation<PointInT, PointNT, PointOutT>::hist_f2_;
00085       using FPFHEstimation<PointInT, PointNT, PointOutT>::hist_f3_;
00086       using FPFHEstimation<PointInT, PointNT, PointOutT>::weightPointSPFHSignature;
00087 
00088       typedef typename Feature<PointInT, PointOutT>::PointCloudOut PointCloudOut;
00089 
00091       FPFHEstimationOMP () : nr_bins_f1_ (11), nr_bins_f2_ (11), nr_bins_f3_ (11), threads_ (1) 
00092       {
00093         feature_name_ = "FPFHEstimationOMP";
00094       };
00095 
00099       FPFHEstimationOMP (unsigned int nr_threads) : nr_bins_f1_ (11), nr_bins_f2_ (11), nr_bins_f3_ (11), threads_ (0)
00100       {
00101         setNumberOfThreads (nr_threads);
00102       }
00103 
00107       inline void 
00108       setNumberOfThreads (unsigned int nr_threads) 
00109       { 
00110         if (nr_threads == 0)
00111           nr_threads = 1;
00112         threads_ = nr_threads; 
00113       }
00114 
00115     private:
00121       void 
00122       computeFeature (PointCloudOut &output);
00123 
00124     public:
00126       int nr_bins_f1_, nr_bins_f2_, nr_bins_f3_;
00127     private:
00129       unsigned int threads_;
00130 
00134       void 
00135       computeFeatureEigen (pcl::PointCloud<Eigen::MatrixXf> &) {}
00136   };
00137 }
00138 
00139 #endif  //#ifndef PCL_FPFH_OMP_H_
00140 
00141 


pcl
Author(s): Open Perception
autogenerated on Mon Oct 6 2014 03:15:13