Point Cloud Library (PCL)  1.12.1-dev
shot_lrf_omp.hpp
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39 
40 #ifndef PCL_FEATURES_IMPL_SHOT_LRF_OMP_H_
41 #define PCL_FEATURES_IMPL_SHOT_LRF_OMP_H_
42 
43 #include <pcl/features/shot_lrf_omp.h>
44 #include <pcl/features/shot_lrf.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  //check whether used with search radius or search k-neighbors
65  if (this->getKSearch () != 0)
66  {
67  PCL_ERROR(
68  "[pcl::%s::computeFeature] Error! Search method set to k-neighborhood. Call setKSearch(0) and setRadiusSearch( radius ) to use this class.\n",
69  getClassName().c_str ());
70  return;
71  }
72  tree_->setSortedResults (true);
73 
74 #pragma omp parallel for \
75  default(none) \
76  shared(output) \
77  num_threads(threads_)
78  for (std::ptrdiff_t i = 0; i < static_cast<std::ptrdiff_t> (indices_->size ()); ++i)
79  {
80  // point result
81  Eigen::Matrix3f rf;
82  PointOutT& output_rf = output[i];
83 
84  //output_rf.confidence = getLocalRF ((*indices_)[i], rf);
85  //if (output_rf.confidence == std::numeric_limits<float>::max ())
86 
87  pcl::Indices n_indices;
88  std::vector<float> n_sqr_distances;
89  this->searchForNeighbors ((*indices_)[i], search_parameter_, n_indices, n_sqr_distances);
90  if (getLocalRF ((*indices_)[i], rf) == std::numeric_limits<float>::max ())
91  {
92  output.is_dense = false;
93  }
94 
95  for (int d = 0; d < 3; ++d)
96  {
97  output_rf.x_axis[d] = rf.row (0)[d];
98  output_rf.y_axis[d] = rf.row (1)[d];
99  output_rf.z_axis[d] = rf.row (2)[d];
100  }
101  }
102 
103 }
104 
105 #define PCL_INSTANTIATE_SHOTLocalReferenceFrameEstimationOMP(T,OutT) template class PCL_EXPORTS pcl::SHOTLocalReferenceFrameEstimationOMP<T,OutT>;
106 
107 #endif // PCL_FEATURES_IMPL_SHOT_LRF_H_
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
IndicesAllocator<> Indices
Type used for indices in PCL.
Definition: types.h:133