shot_omp.h

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#ifndef PCL_SHOT_OMP_H_
#define PCL_SHOT_OMP_H_

#include <pcl/point_types.h>
#include <pcl/features/feature.h>
#include <pcl/features/shot.h>

namespace pcl
{
  template <typename PointInT, typename PointNT, typename PointOutT = pcl::SHOT352, typename PointRFT = pcl::ReferenceFrame>
  class SHOTEstimationOMP : public SHOTEstimation<PointInT, PointNT, PointOutT, PointRFT>
  {
    public:
      typedef boost::shared_ptr<SHOTEstimationOMP<PointInT, PointNT, PointOutT, PointRFT> > Ptr;
      typedef boost::shared_ptr<const SHOTEstimationOMP<PointInT, PointNT, PointOutT, PointRFT> > ConstPtr;
      using Feature<PointInT, PointOutT>::feature_name_;
      using Feature<PointInT, PointOutT>::getClassName;
      using Feature<PointInT, PointOutT>::input_;
      using Feature<PointInT, PointOutT>::indices_;
      using Feature<PointInT, PointOutT>::k_;
      using Feature<PointInT, PointOutT>::search_parameter_;
      using Feature<PointInT, PointOutT>::search_radius_;
      using Feature<PointInT, PointOutT>::surface_;
      using Feature<PointInT, PointOutT>::fake_surface_;
      using FeatureFromNormals<PointInT, PointNT, PointOutT>::normals_;
      using FeatureWithLocalReferenceFrames<PointInT, PointRFT>::frames_;
      using SHOTEstimationBase<PointInT, PointNT, PointOutT, PointRFT>::lrf_radius_;
      using SHOTEstimation<PointInT, PointNT, PointOutT, PointRFT>::descLength_;
      using SHOTEstimation<PointInT, PointNT, PointOutT, PointRFT>::nr_grid_sector_;
      using SHOTEstimation<PointInT, PointNT, PointOutT, PointRFT>::nr_shape_bins_;
      using SHOTEstimation<PointInT, PointNT, PointOutT, PointRFT>::sqradius_;
      using SHOTEstimation<PointInT, PointNT, PointOutT, PointRFT>::radius3_4_;
      using SHOTEstimation<PointInT, PointNT, PointOutT, PointRFT>::radius1_4_;
      using SHOTEstimation<PointInT, PointNT, PointOutT, PointRFT>::radius1_2_;

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

      SHOTEstimationOMP (unsigned int nr_threads = 0) : SHOTEstimation<PointInT, PointNT, PointOutT, PointRFT> (), threads_ (nr_threads)
      { };
      inline void
      setNumberOfThreads (unsigned int nr_threads = 0) { threads_ = nr_threads; }

    protected:

      void
      computeFeature (PointCloudOut &output);

      bool
      initCompute ();

      unsigned int threads_;
  };

  template <typename PointInT, typename PointNT, typename PointOutT = pcl::SHOT1344, typename PointRFT = pcl::ReferenceFrame>
  class SHOTColorEstimationOMP : public SHOTColorEstimation<PointInT, PointNT, PointOutT, PointRFT>
  {
    public:
      typedef boost::shared_ptr<SHOTColorEstimationOMP<PointInT, PointNT, PointOutT, PointRFT> > Ptr;
      typedef boost::shared_ptr<const SHOTColorEstimationOMP<PointInT, PointNT, PointOutT, PointRFT> > ConstPtr;
      using Feature<PointInT, PointOutT>::feature_name_;
      using Feature<PointInT, PointOutT>::getClassName;
      using Feature<PointInT, PointOutT>::input_;
      using Feature<PointInT, PointOutT>::indices_;
      using Feature<PointInT, PointOutT>::k_;
      using Feature<PointInT, PointOutT>::search_parameter_;
      using Feature<PointInT, PointOutT>::search_radius_;
      using Feature<PointInT, PointOutT>::surface_;
      using Feature<PointInT, PointOutT>::fake_surface_;
      using FeatureFromNormals<PointInT, PointNT, PointOutT>::normals_;
      using FeatureWithLocalReferenceFrames<PointInT, PointRFT>::frames_;
      using SHOTEstimationBase<PointInT, PointNT, PointOutT, PointRFT>::lrf_radius_;
      using SHOTColorEstimation<PointInT, PointNT, PointOutT, PointRFT>::descLength_;
      using SHOTColorEstimation<PointInT, PointNT, PointOutT, PointRFT>::nr_grid_sector_;
      using SHOTColorEstimation<PointInT, PointNT, PointOutT, PointRFT>::nr_shape_bins_;
      using SHOTColorEstimation<PointInT, PointNT, PointOutT, PointRFT>::sqradius_;
      using SHOTColorEstimation<PointInT, PointNT, PointOutT, PointRFT>::radius3_4_;
      using SHOTColorEstimation<PointInT, PointNT, PointOutT, PointRFT>::radius1_4_;
      using SHOTColorEstimation<PointInT, PointNT, PointOutT, PointRFT>::radius1_2_;
      using SHOTColorEstimation<PointInT, PointNT, PointOutT, PointRFT>::b_describe_shape_;
      using SHOTColorEstimation<PointInT, PointNT, PointOutT, PointRFT>::b_describe_color_;
      using SHOTColorEstimation<PointInT, PointNT, PointOutT, PointRFT>::nr_color_bins_;

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

      SHOTColorEstimationOMP (bool describe_shape = true,
                              bool describe_color = true,
                              unsigned int nr_threads = 0)
        : SHOTColorEstimation<PointInT, PointNT, PointOutT, PointRFT> (describe_shape, describe_color), threads_ (nr_threads)
      {
      }

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

    protected:

      void
      computeFeature (PointCloudOut &output);

      bool
      initCompute ();

      unsigned int threads_;
  };

}

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

#endif  //#ifndef PCL_SHOT_OMP_H_