Point Cloud Library (PCL)  1.12.1-dev
normal_3d_omp.hpp
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40 
41 #ifndef PCL_FEATURES_IMPL_NORMAL_3D_OMP_H_
42 #define PCL_FEATURES_IMPL_NORMAL_3D_OMP_H_
43 
44 #include <pcl/features/normal_3d_omp.h>
45 
46 ///////////////////////////////////////////////////////////////////////////////////////////
47 template <typename PointInT, typename PointOutT> void
49 {
50  if (nr_threads == 0)
51 #ifdef _OPENMP
52  threads_ = omp_get_num_procs();
53 #else
54  threads_ = 1;
55 #endif
56  else
57  threads_ = nr_threads;
58 }
59 
60 ///////////////////////////////////////////////////////////////////////////////////////////
61 template <typename PointInT, typename PointOutT> void
63 {
64  // Allocate enough space to hold the results
65  // \note This resize is irrelevant for a radiusSearch ().
66  pcl::Indices nn_indices (k_);
67  std::vector<float> nn_dists (k_);
68 
69  output.is_dense = true;
70  // Save a few cycles by not checking every point for NaN/Inf values if the cloud is set to dense
71  if (input_->is_dense)
72  {
73 #pragma omp parallel for \
74  default(none) \
75  shared(output) \
76  firstprivate(nn_indices, nn_dists) \
77  num_threads(threads_)
78  // Iterating over the entire index vector
79  for (std::ptrdiff_t idx = 0; idx < static_cast<std::ptrdiff_t> (indices_->size ()); ++idx)
80  {
81  Eigen::Vector4f n;
82  if (this->searchForNeighbors ((*indices_)[idx], search_parameter_, nn_indices, nn_dists) == 0 ||
83  !pcl::computePointNormal (*surface_, nn_indices, n, output[idx].curvature))
84  {
85  output[idx].normal[0] = output[idx].normal[1] = output[idx].normal[2] = output[idx].curvature = std::numeric_limits<float>::quiet_NaN ();
86 
87  output.is_dense = false;
88  continue;
89  }
90 
91  output[idx].normal_x = n[0];
92  output[idx].normal_y = n[1];
93  output[idx].normal_z = n[2];
94 
95  flipNormalTowardsViewpoint ((*input_)[(*indices_)[idx]], vpx_, vpy_, vpz_,
96  output[idx].normal[0], output[idx].normal[1], output[idx].normal[2]);
97 
98  }
99  }
100  else
101  {
102 #pragma omp parallel for \
103  default(none) \
104  shared(output) \
105  firstprivate(nn_indices, nn_dists) \
106  num_threads(threads_)
107  // Iterating over the entire index vector
108  for (std::ptrdiff_t idx = 0; idx < static_cast<std::ptrdiff_t> (indices_->size ()); ++idx)
109  {
110  Eigen::Vector4f n;
111  if (!isFinite ((*input_)[(*indices_)[idx]]) ||
112  this->searchForNeighbors ((*indices_)[idx], search_parameter_, nn_indices, nn_dists) == 0 ||
113  !pcl::computePointNormal (*surface_, nn_indices, n, output[idx].curvature))
114  {
115  output[idx].normal[0] = output[idx].normal[1] = output[idx].normal[2] = output[idx].curvature = std::numeric_limits<float>::quiet_NaN ();
116 
117  output.is_dense = false;
118  continue;
119  }
120 
121  output[idx].normal_x = n[0];
122  output[idx].normal_y = n[1];
123  output[idx].normal_z = n[2];
124 
125  flipNormalTowardsViewpoint ((*input_)[(*indices_)[idx]], vpx_, vpy_, vpz_,
126  output[idx].normal[0], output[idx].normal[1], output[idx].normal[2]);
127 
128  }
129  }
130 }
131 
132 #define PCL_INSTANTIATE_NormalEstimationOMP(T,NT) template class PCL_EXPORTS pcl::NormalEstimationOMP<T,NT>;
133 
134 #endif // PCL_FEATURES_IMPL_NORMAL_3D_OMP_H_
135 
NormalEstimationOMP estimates local surface properties at each 3D point, such as surface normals and ...
Definition: normal_3d_omp.h:54
void setNumberOfThreads(unsigned int nr_threads=0)
Initialize the scheduler and set the number of threads to use.
void flipNormalTowardsViewpoint(const PointT &point, float vp_x, float vp_y, float vp_z, Eigen::Matrix< Scalar, 4, 1 > &normal)
Flip (in place) the estimated normal of a point towards a given viewpoint.
Definition: normal_3d.h:122
bool computePointNormal(const pcl::PointCloud< PointT > &cloud, Eigen::Vector4f &plane_parameters, float &curvature)
Compute the Least-Squares plane fit for a given set of points, and return the estimated plane paramet...
Definition: normal_3d.h:61
IndicesAllocator<> Indices
Type used for indices in PCL.
Definition: types.h:133