shot_lrf_omp.hpp

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#ifndef PCL_FEATURES_IMPL_SHOT_LRF_OMP_H_
#define PCL_FEATURES_IMPL_SHOT_LRF_OMP_H_
 
#include <pcl/features/shot_lrf_omp.h>
#include <pcl/features/shot_lrf.h>
 
//////////////////////////////////////////////////////////////////////////////////////////////
template<typename PointInT, typename PointOutT> void
pcl::SHOTLocalReferenceFrameEstimationOMP<PointInT, PointOutT>::setNumberOfThreads (unsigned int nr_threads)
{
  if (nr_threads == 0)
#ifdef _OPENMP
    threads_ = omp_get_num_procs();
#else
    threads_ = 1;
#endif
  else
    threads_ = nr_threads;
}
 
//////////////////////////////////////////////////////////////////////////////////////////////
template<typename PointInT, typename PointOutT> void
pcl::SHOTLocalReferenceFrameEstimationOMP<PointInT, PointOutT>::computeFeature (PointCloudOut &output)
{
  //check whether used with search radius or search k-neighbors
  if (this->getKSearch () != 0)
  {
    PCL_ERROR(
        "[pcl::%s::computeFeature] Error! Search method set to k-neighborhood. Call setKSearch(0) and setRadiusSearch( radius ) to use this class.\n",
        getClassName().c_str ());
    return;
  }
  tree_->setSortedResults (true);
 
#pragma omp parallel for \
  default(none) \
  shared(output) \
  num_threads(threads_)
  for (std::ptrdiff_t i = 0; i < static_cast<std::ptrdiff_t> (indices_->size ()); ++i)
  {
    // point result
    Eigen::Matrix3f rf;
    PointOutT& output_rf = output[i];
 
    //output_rf.confidence = getLocalRF ((*indices_)[i], rf);
    //if (output_rf.confidence == std::numeric_limits<float>::max ())
 
    pcl::Indices n_indices;
    std::vector<float> n_sqr_distances;
    this->searchForNeighbors ((*indices_)[i], search_parameter_, n_indices, n_sqr_distances);
    if (getLocalRF ((*indices_)[i], rf) == std::numeric_limits<float>::max ())
    {
      output.is_dense = false;
    }
 
    for (int d = 0; d < 3; ++d)
    {
      output_rf.x_axis[d] = rf.row (0)[d];
      output_rf.y_axis[d] = rf.row (1)[d];
      output_rf.z_axis[d] = rf.row (2)[d];
    }
  }
 
}
 
#define PCL_INSTANTIATE_SHOTLocalReferenceFrameEstimationOMP(T,OutT) template class PCL_EXPORTS pcl::SHOTLocalReferenceFrameEstimationOMP<T,OutT>;
 
#endif    // PCL_FEATURES_IMPL_SHOT_LRF_H_