Point Cloud Library (PCL)  1.9.1-dev
normal_3d_omp.h
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40 
41 #pragma once
42 
43 #include <pcl/features/normal_3d.h>
44 
45 namespace pcl
46 {
47  /** \brief NormalEstimationOMP estimates local surface properties at each 3D point, such as surface normals and
48  * curvatures, in parallel, using the OpenMP standard.
49  * \author Radu Bogdan Rusu
50  * \ingroup features
51  */
52  template <typename PointInT, typename PointOutT>
53  class NormalEstimationOMP: public NormalEstimation<PointInT, PointOutT>
54  {
55  public:
56  using Ptr = boost::shared_ptr<NormalEstimationOMP<PointInT, PointOutT> >;
57  using ConstPtr = boost::shared_ptr<const NormalEstimationOMP<PointInT, PointOutT> >;
69 
71 
72  public:
73  /** \brief Initialize the scheduler and set the number of threads to use.
74  * \param nr_threads the number of hardware threads to use (0 sets the value back to automatic)
75  */
76  NormalEstimationOMP (unsigned int nr_threads = 0)
77  {
78  feature_name_ = "NormalEstimationOMP";
79 
80  setNumberOfThreads(nr_threads);
81  }
82 
83  /** \brief Initialize the scheduler and set the number of threads to use.
84  * \param nr_threads the number of hardware threads to use (0 sets the value back to automatic)
85  */
86  void
87  setNumberOfThreads (unsigned int nr_threads = 0);
88 
89  protected:
90  /** \brief The number of threads the scheduler should use. */
91  unsigned int threads_;
92 
93  private:
94  /** \brief Estimate normals for all points given in <setInputCloud (), setIndices ()> using the surface in
95  * setSearchSurface () and the spatial locator in setSearchMethod ()
96  * \param output the resultant point cloud model dataset that contains surface normals and curvatures
97  */
98  void
99  computeFeature (PointCloudOut &output) override;
100  };
101 }
102 
103 #ifdef PCL_NO_PRECOMPILE
104 #include <pcl/features/impl/normal_3d_omp.hpp>
105 #endif
boost::shared_ptr< const Feature< PointInT, PointOutT > > ConstPtr
Definition: feature.h:114
std::string feature_name_
The feature name.
Definition: feature.h:222
This file defines compatibility wrappers for low level I/O functions.
Definition: convolution.h:45
NormalEstimationOMP(unsigned int nr_threads=0)
Initialize the scheduler and set the number of threads to use.
Definition: normal_3d_omp.h:76
typename Feature< PointInT, PointOutT >::PointCloudOut PointCloudOut
Definition: normal_3d.h:256
NormalEstimation estimates local surface properties (surface normals and curvatures)at each 3D point...
Definition: normal_3d.h:242
NormalEstimationOMP estimates local surface properties at each 3D point, such as surface normals and ...
Definition: normal_3d_omp.h:53
unsigned int threads_
The number of threads the scheduler should use.
Definition: normal_3d_omp.h:91
void setNumberOfThreads(unsigned int nr_threads=0)
Initialize the scheduler and set the number of threads to use.
boost::shared_ptr< Feature< PointInT, PointOutT > > Ptr
Definition: feature.h:113