Point Cloud Library (PCL)  1.12.1-dev
shot_lrf_omp.h
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39 
40 #pragma once
41 
42 #include <pcl/point_types.h>
43 #include <pcl/features/feature.h>
44 #include <pcl/features/shot_lrf.h>
45 
46 namespace pcl
47 {
48  /** \brief SHOTLocalReferenceFrameEstimation estimates the Local Reference Frame used in the calculation
49  * of the (SHOT) descriptor.
50  *
51  * \note If you use this code in any academic work, please cite:
52  *
53  * - F. Tombari, S. Salti, L. Di Stefano
54  * Unique Signatures of Histograms for Local Surface Description.
55  * In Proceedings of the 11th European Conference on Computer Vision (ECCV),
56  * Heraklion, Greece, September 5-11 2010.
57  * - F. Tombari, S. Salti, L. Di Stefano
58  * A Combined Texture-Shape Descriptor For Enhanced 3D Feature Matching.
59  * In Proceedings of the 18th International Conference on Image Processing (ICIP),
60  * Brussels, Belgium, September 11-14 2011.
61  *
62  * \author Samuele Salti, Federico Tombari
63  * \ingroup features
64  */
65  template<typename PointInT, typename PointOutT = ReferenceFrame>
67  {
68  public:
69  using Ptr = shared_ptr<SHOTLocalReferenceFrameEstimationOMP<PointInT, PointOutT> >;
70  using ConstPtr = shared_ptr<const SHOTLocalReferenceFrameEstimationOMP<PointInT, PointOutT> >;
71  /** \brief Constructor */
73  {
74  feature_name_ = "SHOTLocalReferenceFrameEstimationOMP";
75 
77  }
78 
79  /** \brief Empty destructor */
81 
82  /** \brief Initialize the scheduler and set the number of threads to use.
83  * \param nr_threads the number of hardware threads to use (0 sets the value back to automatic)
84  */
85  void
86  setNumberOfThreads (unsigned int nr_threads = 0);
87 
88  protected:
91  //using Feature<PointInT, PointOutT>::searchForNeighbors;
100 
101  /** \brief Feature estimation method.
102  * \param[out] output the resultant features
103  */
104  void
105  computeFeature (PointCloudOut &output) override;
106 
107  /** \brief The number of threads the scheduler should use. */
108  unsigned int threads_;
109 
110  };
111 }
112 
113 #ifdef PCL_NO_PRECOMPILE
114 #include <pcl/features/impl/shot_lrf_omp.hpp>
115 #endif
Feature represents the base feature class.
Definition: feature.h:107
std::string feature_name_
The feature name.
Definition: feature.h:220
SHOTLocalReferenceFrameEstimation estimates the Local Reference Frame used in the calculation of the ...
Definition: shot_lrf.h:66
SHOTLocalReferenceFrameEstimation estimates the Local Reference Frame used in the calculation of the ...
Definition: shot_lrf_omp.h:67
unsigned int threads_
The number of threads the scheduler should use.
Definition: shot_lrf_omp.h:108
shared_ptr< const SHOTLocalReferenceFrameEstimationOMP< PointInT, PointOutT > > ConstPtr
Definition: shot_lrf_omp.h:70
~SHOTLocalReferenceFrameEstimationOMP() override=default
Empty destructor.
shared_ptr< SHOTLocalReferenceFrameEstimationOMP< PointInT, PointOutT > > Ptr
Definition: shot_lrf_omp.h:69
void computeFeature(PointCloudOut &output) override
Feature estimation method.
void setNumberOfThreads(unsigned int nr_threads=0)
Initialize the scheduler and set the number of threads to use.
typename Feature< PointInT, PointOutT >::PointCloudOut PointCloudOut
Definition: shot_lrf_omp.h:99
typename Feature< PointInT, PointOutT >::PointCloudIn PointCloudIn
Definition: shot_lrf_omp.h:98
Defines all the PCL implemented PointT point type structures.