fpfh_omp.h

Go to the documentation of this file.

/*
 * Software License Agreement (BSD License)
 *
 *  Point Cloud Library (PCL) - www.pointclouds.org
 *  Copyright (c) 2009, Willow Garage, Inc.
 *  Copyright (c) 2012-, Open Perception, Inc.
 *
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * 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.
 *   * Neither the name of the copyright holder(s) nor the names of its
 *     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
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 *
 * $Id$
 *
 */

#ifndef PCL_FPFH_OMP_H_
#define PCL_FPFH_OMP_H_

#include <pcl/features/feature.h>
#include <pcl/features/fpfh.h>

namespace pcl
{
  template <typename PointInT, typename PointNT, typename PointOutT>
  class FPFHEstimationOMP : public FPFHEstimation<PointInT, PointNT, PointOutT>
  {
    public:
      typedef boost::shared_ptr<FPFHEstimationOMP<PointInT, PointNT, PointOutT> > Ptr;
      typedef boost::shared_ptr<const FPFHEstimationOMP<PointInT, PointNT, PointOutT> > ConstPtr;
      using Feature<PointInT, PointOutT>::feature_name_;
      using Feature<PointInT, PointOutT>::getClassName;
      using Feature<PointInT, PointOutT>::indices_;
      using Feature<PointInT, PointOutT>::k_;
      using Feature<PointInT, PointOutT>::search_parameter_;
      using Feature<PointInT, PointOutT>::input_;
      using Feature<PointInT, PointOutT>::surface_;
      using FeatureFromNormals<PointInT, PointNT, PointOutT>::normals_;
      using FPFHEstimation<PointInT, PointNT, PointOutT>::hist_f1_;
      using FPFHEstimation<PointInT, PointNT, PointOutT>::hist_f2_;
      using FPFHEstimation<PointInT, PointNT, PointOutT>::hist_f3_;
      using FPFHEstimation<PointInT, PointNT, PointOutT>::weightPointSPFHSignature;

      typedef typename Feature<PointInT, PointOutT>::PointCloudOut PointCloudOut;

      FPFHEstimationOMP (unsigned int nr_threads = 0) : nr_bins_f1_ (11), nr_bins_f2_ (11), nr_bins_f3_ (11), threads_ (nr_threads)
      {
        feature_name_ = "FPFHEstimationOMP";
      }

      inline void 
      setNumberOfThreads (unsigned int nr_threads = 0) { threads_ = nr_threads; }

    private:
      void 
      computeFeature (PointCloudOut &output);

    public:
      int nr_bins_f1_, nr_bins_f2_, nr_bins_f3_;
    private:
      unsigned int threads_;
  };
}

#ifdef PCL_NO_PRECOMPILE
#include <pcl/features/impl/fpfh_omp.hpp>
#endif

#endif  //#ifndef PCL_FPFH_OMP_H_