NormalEstimationOMP estimates local surface properties at each 3D point, such as surface normals and curvatures, in parallel, using the OpenMP standard. More...
#include <pcl/features/normal_3d_omp.h>
Inheritance diagram for pcl::NormalEstimationOMP< PointInT, PointOutT >:
Collaboration diagram for pcl::NormalEstimationOMP< PointInT, PointOutT >:
Public Types | |
| using | Ptr = shared_ptr< NormalEstimationOMP< PointInT, PointOutT > > |
| using | ConstPtr = shared_ptr< const NormalEstimationOMP< PointInT, PointOutT > > |
| using | PointCloudOut = typename NormalEstimation< PointInT, PointOutT >::PointCloudOut |
| Public Types inherited from pcl::NormalEstimation< PointInT, PointOutT > | |
| using | Ptr = shared_ptr< NormalEstimation< PointInT, PointOutT > > |
| using | ConstPtr = shared_ptr< const NormalEstimation< PointInT, PointOutT > > |
| using | PointCloudOut = typename Feature< PointInT, PointOutT >::PointCloudOut |
| using | PointCloudConstPtr = typename Feature< PointInT, PointOutT >::PointCloudConstPtr |
| Public Types inherited from pcl::Feature< PointInT, PointOutT > | |
| using | BaseClass = PCLBase< PointInT > |
| using | Ptr = shared_ptr< Feature< PointInT, PointOutT > > |
| using | ConstPtr = shared_ptr< const Feature< PointInT, PointOutT > > |
| using | KdTree = pcl::search::Search< PointInT > |
| using | KdTreePtr = typename KdTree::Ptr |
| using | PointCloudIn = pcl::PointCloud< PointInT > |
| using | PointCloudInPtr = typename PointCloudIn::Ptr |
| using | PointCloudInConstPtr = typename PointCloudIn::ConstPtr |
| using | PointCloudOut = pcl::PointCloud< PointOutT > |
| using | SearchMethod = std::function< int(std::size_t, double, pcl::Indices &, std::vector< float > &)> |
| using | SearchMethodSurface = std::function< int(const PointCloudIn &cloud, std::size_t index, double, pcl::Indices &, std::vector< float > &)> |
| Public Types inherited from pcl::PCLBase< PointInT > | |
| using | PointCloud = pcl::PointCloud< PointInT > |
| using | PointCloudPtr = typename PointCloud::Ptr |
| using | PointCloudConstPtr = typename PointCloud::ConstPtr |
| using | PointIndicesPtr = PointIndices::Ptr |
| using | PointIndicesConstPtr = PointIndices::ConstPtr |
Public Member Functions | |
| NormalEstimationOMP (unsigned int nr_threads=0, int chunk_size=256) | |
| Initialize the scheduler and set the number of threads to use. More... | |
| void | setNumberOfThreads (unsigned int nr_threads=0) |
| Initialize the scheduler and set the number of threads to use. More... | |
| Public Member Functions inherited from pcl::NormalEstimation< PointInT, PointOutT > | |
| NormalEstimation () | |
| Empty constructor. More... | |
| ~NormalEstimation () override=default | |
| Empty destructor. More... | |
| bool | computePointNormal (const pcl::PointCloud< PointInT > &cloud, const pcl::Indices &indices, Eigen::Vector4f &plane_parameters, float &curvature) |
| Compute the Least-Squares plane fit for a given set of points, using their indices, and return the estimated plane parameters together with the surface curvature. More... | |
| bool | computePointNormal (const pcl::PointCloud< PointInT > &cloud, const pcl::Indices &indices, float &nx, float &ny, float &nz, float &curvature) |
| Compute the Least-Squares plane fit for a given set of points, using their indices, and return the estimated plane parameters together with the surface curvature. More... | |
| void | setInputCloud (const PointCloudConstPtr &cloud) override |
| Provide a pointer to the input dataset. More... | |
| void | setViewPoint (float vpx, float vpy, float vpz) |
| Set the viewpoint. More... | |
| void | getViewPoint (float &vpx, float &vpy, float &vpz) |
| Get the viewpoint. More... | |
| void | useSensorOriginAsViewPoint () |
| sets whether the sensor origin or a user given viewpoint should be used. More... | |
| Public Member Functions inherited from pcl::Feature< PointInT, PointOutT > | |
| Feature () | |
| Empty constructor. More... | |
| void | setSearchSurface (const PointCloudInConstPtr &cloud) |
| Provide a pointer to a dataset to add additional information to estimate the features for every point in the input dataset. More... | |
| PointCloudInConstPtr | getSearchSurface () const |
| Get a pointer to the surface point cloud dataset. More... | |
| void | setSearchMethod (const KdTreePtr &tree) |
| Provide a pointer to the search object. More... | |
| KdTreePtr | getSearchMethod () const |
| Get a pointer to the search method used. More... | |
| double | getSearchParameter () const |
| Get the internal search parameter. More... | |
| void | setKSearch (int k) |
| Set the number of k nearest neighbors to use for the feature estimation. More... | |
| int | getKSearch () const |
| get the number of k nearest neighbors used for the feature estimation. More... | |
| void | setRadiusSearch (double radius) |
| Set the sphere radius that is to be used for determining the nearest neighbors used for the feature estimation. More... | |
| double | getRadiusSearch () const |
| Get the sphere radius used for determining the neighbors. More... | |
| void | compute (PointCloudOut &output) |
| Base method for feature estimation for all points given in <setInputCloud (), setIndices ()> using the surface in setSearchSurface () and the spatial locator in setSearchMethod () More... | |
| Public Member Functions inherited from pcl::PCLBase< PointInT > | |
| PCLBase () | |
| Empty constructor. More... | |
| PCLBase (const PCLBase &base) | |
| Copy constructor. More... | |
| virtual | ~PCLBase ()=default |
| Destructor. More... | |
| virtual void | setInputCloud (const PointCloudConstPtr &cloud) |
| Provide a pointer to the input dataset. More... | |
| PointCloudConstPtr const | getInputCloud () const |
| Get a pointer to the input point cloud dataset. More... | |
| virtual void | setIndices (const IndicesPtr &indices) |
| Provide a pointer to the vector of indices that represents the input data. More... | |
| virtual void | setIndices (const IndicesConstPtr &indices) |
| Provide a pointer to the vector of indices that represents the input data. More... | |
| virtual void | setIndices (const PointIndicesConstPtr &indices) |
| Provide a pointer to the vector of indices that represents the input data. More... | |
| virtual void | setIndices (std::size_t row_start, std::size_t col_start, std::size_t nb_rows, std::size_t nb_cols) |
| Set the indices for the points laying within an interest region of the point cloud. More... | |
| IndicesPtr | getIndices () |
| Get a pointer to the vector of indices used. More... | |
| IndicesConstPtr const | getIndices () const |
| Get a pointer to the vector of indices used. More... | |
| const PointInT & | operator[] (std::size_t pos) const |
| Override PointCloud operator[] to shorten code. More... | |
Protected Attributes | |
| unsigned int | threads_ |
| The number of threads the scheduler should use. More... | |
| int | chunk_size_ |
| Chunk size for (dynamic) scheduling. More... | |
| Protected Attributes inherited from pcl::NormalEstimation< PointInT, PointOutT > | |
| float | vpx_ {0.0f} |
| Values describing the viewpoint ("pinhole" camera model assumed). More... | |
| float | vpy_ {0.0f} |
| float | vpz_ {0.0f} |
| EIGEN_ALIGN16 Eigen::Matrix3f | covariance_matrix_ |
| Placeholder for the 3x3 covariance matrix at each surface patch. More... | |
| Eigen::Vector4f | xyz_centroid_ |
| 16-bytes aligned placeholder for the XYZ centroid of a surface patch. More... | |
| bool | use_sensor_origin_ {true} |
| whether the sensor origin of the input cloud or a user given viewpoint should be used. More... | |
| Protected Attributes inherited from pcl::Feature< PointInT, PointOutT > | |
| std::string | feature_name_ |
| The feature name. More... | |
| SearchMethodSurface | search_method_surface_ |
| The search method template for points. More... | |
| PointCloudInConstPtr | surface_ |
| An input point cloud describing the surface that is to be used for nearest neighbors estimation. More... | |
| KdTreePtr | tree_ |
| A pointer to the spatial search object. More... | |
| double | search_parameter_ |
| The actual search parameter (from either search_radius_ or k_). More... | |
| double | search_radius_ |
| The nearest neighbors search radius for each point. More... | |
| int | k_ |
| The number of K nearest neighbors to use for each point. More... | |
| bool | fake_surface_ |
| If no surface is given, we use the input PointCloud as the surface. More... | |
| Protected Attributes inherited from pcl::PCLBase< PointInT > | |
| PointCloudConstPtr | input_ |
| The input point cloud dataset. More... | |
| IndicesPtr | indices_ |
| A pointer to the vector of point indices to use. More... | |
| bool | use_indices_ |
| Set to true if point indices are used. More... | |
| bool | fake_indices_ |
| If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud. More... | |
Additional Inherited Members | |
| Protected Member Functions inherited from pcl::Feature< PointInT, PointOutT > | |
| const std::string & | getClassName () const |
| Get a string representation of the name of this class. More... | |
| virtual bool | initCompute () |
| This method should get called before starting the actual computation. More... | |
| virtual bool | deinitCompute () |
| This method should get called after ending the actual computation. More... | |
| int | searchForNeighbors (std::size_t index, double parameter, pcl::Indices &indices, std::vector< float > &distances) const |
| Search for k-nearest neighbors using the spatial locator from setSearchmethod, and the given surface from setSearchSurface. More... | |
| int | searchForNeighbors (const PointCloudIn &cloud, std::size_t index, double parameter, pcl::Indices &indices, std::vector< float > &distances) const |
| Search for k-nearest neighbors using the spatial locator from setSearchmethod, and the given surface from setSearchSurface. More... | |
| Protected Member Functions inherited from pcl::PCLBase< PointInT > | |
| bool | initCompute () |
| This method should get called before starting the actual computation. More... | |
| bool | deinitCompute () |
| This method should get called after finishing the actual computation. More... | |
Detailed Description
template<typename PointInT, typename PointOutT>
class pcl::NormalEstimationOMP< PointInT, PointOutT >
NormalEstimationOMP estimates local surface properties at each 3D point, such as surface normals and curvatures, in parallel, using the OpenMP standard.
Definition at line 53 of file normal_3d_omp.h.
Member Typedef Documentation
◆ ConstPtr
template<typename PointInT , typename PointOutT >
| using pcl::NormalEstimationOMP< PointInT, PointOutT >::ConstPtr = shared_ptr<const NormalEstimationOMP<PointInT, PointOutT> > |
Definition at line 57 of file normal_3d_omp.h.
◆ PointCloudOut
template<typename PointInT , typename PointOutT >
| using pcl::NormalEstimationOMP< PointInT, PointOutT >::PointCloudOut = typename NormalEstimation<PointInT, PointOutT>::PointCloudOut |
Definition at line 70 of file normal_3d_omp.h.
◆ Ptr
template<typename PointInT , typename PointOutT >
| using pcl::NormalEstimationOMP< PointInT, PointOutT >::Ptr = shared_ptr<NormalEstimationOMP<PointInT, PointOutT> > |
Definition at line 56 of file normal_3d_omp.h.
Constructor & Destructor Documentation
◆ NormalEstimationOMP()
template<typename PointInT , typename PointOutT >
|
inline |
Initialize the scheduler and set the number of threads to use.
- Parameters
-
nr_threads the number of hardware threads to use (0 sets the value back to automatic) chunk_size PCL will use dynamic scheduling with this chunk size. Setting it too low will lead to more parallelization overhead. Setting it too high will lead to a worse balancing between the threads.
Definition at line 77 of file normal_3d_omp.h.
References pcl::Feature< PointInT, PointOutT >::feature_name_, and pcl::NormalEstimationOMP< PointInT, PointOutT >::setNumberOfThreads().
Member Function Documentation
◆ setNumberOfThreads()
template<typename PointInT , typename PointOutT >
| void pcl::NormalEstimationOMP< PointInT, PointOutT >::setNumberOfThreads | ( | unsigned int | nr_threads = 0 | ) |
Initialize the scheduler and set the number of threads to use.
- Parameters
-
nr_threads the number of hardware threads to use (0 sets the value back to automatic)
Definition at line 48 of file normal_3d_omp.hpp.
Referenced by pcl::NormalEstimationOMP< PointInT, PointOutT >::NormalEstimationOMP().
Member Data Documentation
◆ chunk_size_
template<typename PointInT , typename PointOutT >
|
protected |
Chunk size for (dynamic) scheduling.
Definition at line 95 of file normal_3d_omp.h.
◆ threads_
template<typename PointInT , typename PointOutT >
|
protected |
The number of threads the scheduler should use.
Definition at line 92 of file normal_3d_omp.h.
The documentation for this class was generated from the following files:
- pcl/features/normal_3d_omp.h
- pcl/features/impl/normal_3d_omp.hpp