Point Cloud Library (PCL)  1.12.0-dev
fpfh_omp.hpp
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40 
41 #pragma once
42 
43 #include <pcl/features/fpfh_omp.h>
44 
45 #include <pcl/common/point_tests.h> // for pcl::isFinite
46 
47 #include <numeric>
48 
49 
50 //////////////////////////////////////////////////////////////////////////////////////////////
51 template <typename PointInT, typename PointNT, typename PointOutT> void
53 {
54  if (nr_threads == 0)
55 #ifdef _OPENMP
56  threads_ = omp_get_num_procs();
57 #else
58  threads_ = 1;
59 #endif
60  else
61  threads_ = nr_threads;
62 }
63 
64 //////////////////////////////////////////////////////////////////////////////////////////////
65 template <typename PointInT, typename PointNT, typename PointOutT> void
67 {
68  std::vector<int> spfh_indices_vec;
69  std::vector<int> spfh_hist_lookup (surface_->size ());
70 
71  // Build a list of (unique) indices for which we will need to compute SPFH signatures
72  // (We need an SPFH signature for every point that is a neighbor of any point in input_[indices_])
73  if (surface_ != input_ ||
74  indices_->size () != surface_->size ())
75  {
76  pcl::Indices nn_indices (k_); // \note These resizes are irrelevant for a radiusSearch ().
77  std::vector<float> nn_dists (k_);
78 
79  std::set<int> spfh_indices_set;
80  for (std::size_t idx = 0; idx < indices_->size (); ++idx)
81  {
82  int p_idx = (*indices_)[idx];
83  if (!isFinite ((*input_)[p_idx]) ||
84  this->searchForNeighbors (p_idx, search_parameter_, nn_indices, nn_dists) == 0)
85  continue;
86 
87  spfh_indices_set.insert (nn_indices.begin (), nn_indices.end ());
88  }
89  spfh_indices_vec.resize (spfh_indices_set.size ());
90  std::copy (spfh_indices_set.cbegin (), spfh_indices_set.cend (), spfh_indices_vec.begin ());
91  }
92  else
93  {
94  // Special case: When a feature must be computed at every point, there is no need for a neighborhood search
95  spfh_indices_vec.resize (indices_->size ());
96  std::iota(spfh_indices_vec.begin (), spfh_indices_vec.end (),
97  static_cast<decltype(spfh_indices_vec)::value_type>(0));
98  }
99 
100  // Initialize the arrays that will store the SPFH signatures
101  const auto data_size = spfh_indices_vec.size ();
102  hist_f1_.setZero (data_size, nr_bins_f1_);
103  hist_f2_.setZero (data_size, nr_bins_f2_);
104  hist_f3_.setZero (data_size, nr_bins_f3_);
105 
106  pcl::Indices nn_indices (k_); // \note These resizes are irrelevant for a radiusSearch ().
107  std::vector<float> nn_dists (k_);
108 
109  // Compute SPFH signatures for every point that needs them
110 
111 #pragma omp parallel for \
112  default(none) \
113  shared(spfh_hist_lookup, spfh_indices_vec) \
114  firstprivate(nn_indices, nn_dists) \
115  num_threads(threads_)
116  for (std::ptrdiff_t i = 0; i < static_cast<std::ptrdiff_t> (spfh_indices_vec.size ()); ++i)
117  {
118  // Get the next point index
119  int p_idx = spfh_indices_vec[i];
120 
121  // Find the neighborhood around p_idx
122  if (!isFinite ((*surface_)[p_idx]) ||
123  this->searchForNeighbors (*surface_, p_idx, search_parameter_, nn_indices, nn_dists) == 0)
124  continue;
125 
126  // Estimate the SPFH signature around p_idx
127  this->computePointSPFHSignature (*surface_, *normals_, p_idx, i, nn_indices, hist_f1_, hist_f2_, hist_f3_);
128 
129  // Populate a lookup table for converting a point index to its corresponding row in the spfh_hist_* matrices
130  spfh_hist_lookup[p_idx] = i;
131  }
132 
133  // Initialize the array that will store the FPFH signature
134  int nr_bins = nr_bins_f1_ + nr_bins_f2_ + nr_bins_f3_;
135 
136  nn_indices.clear();
137  nn_dists.clear();
138 
139  // Iterate over the entire index vector
140 #pragma omp parallel for \
141  default(none) \
142  shared(nr_bins, output, spfh_hist_lookup) \
143  firstprivate(nn_dists, nn_indices) \
144  num_threads(threads_)
145  for (std::ptrdiff_t idx = 0; idx < static_cast<std::ptrdiff_t> (indices_->size ()); ++idx)
146  {
147  // Find the indices of point idx's neighbors...
148  if (!isFinite ((*input_)[(*indices_)[idx]]) ||
149  this->searchForNeighbors ((*indices_)[idx], search_parameter_, nn_indices, nn_dists) == 0)
150  {
151  for (int d = 0; d < nr_bins; ++d)
152  output[idx].histogram[d] = std::numeric_limits<float>::quiet_NaN ();
153 
154  output.is_dense = false;
155  continue;
156  }
157 
158 
159  // ... and remap the nn_indices values so that they represent row indices in the spfh_hist_* matrices
160  // instead of indices into surface_->points
161  for (auto &nn_index : nn_indices)
162  nn_index = spfh_hist_lookup[nn_index];
163 
164  // Compute the FPFH signature (i.e. compute a weighted combination of local SPFH signatures) ...
165  Eigen::VectorXf fpfh_histogram = Eigen::VectorXf::Zero (nr_bins);
166  weightPointSPFHSignature (hist_f1_, hist_f2_, hist_f3_, nn_indices, nn_dists, fpfh_histogram);
167 
168  // ...and copy it into the output cloud
169  for (int d = 0; d < nr_bins; ++d)
170  output[idx].histogram[d] = fpfh_histogram[d];
171  }
172 
173 }
174 
175 #define PCL_INSTANTIATE_FPFHEstimationOMP(T,NT,OutT) template class PCL_EXPORTS pcl::FPFHEstimationOMP<T,NT,OutT>;
176 
pcl::FPFHEstimationOMP
FPFHEstimationOMP estimates the Fast Point Feature Histogram (FPFH) descriptor for a given point clou...
Definition: fpfh_omp.h:74
pcl::FPFHEstimationOMP::setNumberOfThreads
void setNumberOfThreads(unsigned int nr_threads=0)
Initialize the scheduler and set the number of threads to use.
Definition: fpfh_omp.hpp:52
pcl::Indices
IndicesAllocator<> Indices
Type used for indices in PCL.
Definition: types.h:133