normal_3d_omp.hpp

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#ifndef PCL_FEATURES_IMPL_NORMAL_3D_OMP_H_
#define PCL_FEATURES_IMPL_NORMAL_3D_OMP_H_

#include <pcl/features/normal_3d_omp.h>

template <typename PointInT, typename PointOutT> void
pcl::NormalEstimationOMP<PointInT, PointOutT>::computeFeature (PointCloudOut &output)
{
  // Allocate enough space to hold the results
  // \note This resize is irrelevant for a radiusSearch ().
  std::vector<int> nn_indices (k_);
  std::vector<float> nn_dists (k_);

  output.is_dense = true;

  // Save a few cycles by not checking every point for NaN/Inf values if the cloud is set to dense
  if (input_->is_dense)
  {
#ifdef _OPENMP
#pragma omp parallel for shared (output) private (nn_indices, nn_dists) num_threads(threads_)
#endif
    // Iterating over the entire index vector
    for (int idx = 0; idx < static_cast<int> (indices_->size ()); ++idx)
    {
      if (this->searchForNeighbors ((*indices_)[idx], search_parameter_, nn_indices, nn_dists) == 0)
      {
        output.points[idx].normal[0] = output.points[idx].normal[1] = output.points[idx].normal[2] = output.points[idx].curvature = std::numeric_limits<float>::quiet_NaN ();

        output.is_dense = false;
        continue;
      }

      Eigen::Vector4f n;
      pcl::computePointNormal<PointInT> (*surface_, nn_indices,
                                         n,
                                         output.points[idx].curvature);
                          
      output.points[idx].normal_x = n[0];
      output.points[idx].normal_y = n[1];
      output.points[idx].normal_z = n[2];
  
      flipNormalTowardsViewpoint (input_->points[(*indices_)[idx]], vpx_, vpy_, vpz_,
                                  output.points[idx].normal[0], 
                                  output.points[idx].normal[1], 
                                  output.points[idx].normal[2]);
    }
  }
  else
  {
#ifdef _OPENMP
#pragma omp parallel for shared (output) private (nn_indices, nn_dists) num_threads(threads_)
#endif
     // Iterating over the entire index vector
    for (int idx = 0; idx < static_cast<int> (indices_->size ()); ++idx)
    {
      if (!isFinite ((*input_)[(*indices_)[idx]]) ||
          this->searchForNeighbors ((*indices_)[idx], search_parameter_, nn_indices, nn_dists) == 0)
      {
        output.points[idx].normal[0] = output.points[idx].normal[1] = output.points[idx].normal[2] = output.points[idx].curvature = std::numeric_limits<float>::quiet_NaN ();

        output.is_dense = false;
        continue;
      }

      Eigen::Vector4f n;
      pcl::computePointNormal<PointInT> (*surface_, nn_indices,
                                         n,
                                         output.points[idx].curvature);
                          
      output.points[idx].normal_x = n[0];
      output.points[idx].normal_y = n[1];
      output.points[idx].normal_z = n[2];

      flipNormalTowardsViewpoint (input_->points[(*indices_)[idx]], vpx_, vpy_, vpz_,
                                  output.points[idx].normal[0], output.points[idx].normal[1], output.points[idx].normal[2]);
    }
 }
}

#define PCL_INSTANTIATE_NormalEstimationOMP(T,NT) template class PCL_EXPORTS pcl::NormalEstimationOMP<T,NT>;

#endif    // PCL_FEATURES_IMPL_NORMAL_3D_OMP_H_