Point Cloud Library (PCL)  1.14.1-dev
List of all members | Public Types | Public Member Functions | Protected Attributes
pcl::NormalEstimationOMP< PointInT, PointOutT > Class Template Reference

NormalEstimationOMP estimates local surface properties at each 3D point, such as surface normals and curvatures, in parallel, using the OpenMP standard. More...

#include <pcl/features/normal_3d_omp.h>

+ Inheritance diagram for pcl::NormalEstimationOMP< PointInT, PointOutT >:
+ Collaboration diagram for pcl::NormalEstimationOMP< PointInT, PointOutT >:

Public Types

using Ptr = shared_ptr< NormalEstimationOMP< PointInT, PointOutT > >
 
using ConstPtr = shared_ptr< const NormalEstimationOMP< PointInT, PointOutT > >
 
using PointCloudOut = typename NormalEstimation< PointInT, PointOutT >::PointCloudOut
 
- Public Types inherited from pcl::NormalEstimation< PointInT, PointOutT >
using Ptr = shared_ptr< NormalEstimation< PointInT, PointOutT > >
 
using ConstPtr = shared_ptr< const NormalEstimation< PointInT, PointOutT > >
 
using PointCloudOut = typename Feature< PointInT, PointOutT >::PointCloudOut
 
using PointCloudConstPtr = typename Feature< PointInT, PointOutT >::PointCloudConstPtr
 
- Public Types inherited from pcl::Feature< PointInT, PointOutT >
using BaseClass = PCLBase< PointInT >
 
using Ptr = shared_ptr< Feature< PointInT, PointOutT > >
 
using ConstPtr = shared_ptr< const Feature< PointInT, PointOutT > >
 
using KdTree = pcl::search::Search< PointInT >
 
using KdTreePtr = typename KdTree::Ptr
 
using PointCloudIn = pcl::PointCloud< PointInT >
 
using PointCloudInPtr = typename PointCloudIn::Ptr
 
using PointCloudInConstPtr = typename PointCloudIn::ConstPtr
 
using PointCloudOut = pcl::PointCloud< PointOutT >
 
using SearchMethod = std::function< int(std::size_t, double, pcl::Indices &, std::vector< float > &)>
 
using SearchMethodSurface = std::function< int(const PointCloudIn &cloud, std::size_t index, double, pcl::Indices &, std::vector< float > &)>
 
- Public Types inherited from pcl::PCLBase< PointInT >
using PointCloud = pcl::PointCloud< PointInT >
 
using PointCloudPtr = typename PointCloud::Ptr
 
using PointCloudConstPtr = typename PointCloud::ConstPtr
 
using PointIndicesPtr = PointIndices::Ptr
 
using PointIndicesConstPtr = PointIndices::ConstPtr
 

Public Member Functions

 NormalEstimationOMP (unsigned int nr_threads=0, int chunk_size=256)
 Initialize the scheduler and set the number of threads to use. More...
 
void setNumberOfThreads (unsigned int nr_threads=0)
 Initialize the scheduler and set the number of threads to use. More...
 
- Public Member Functions inherited from pcl::NormalEstimation< PointInT, PointOutT >
 NormalEstimation ()
 Empty constructor. More...
 
 ~NormalEstimation () override=default
 Empty destructor. More...
 
bool computePointNormal (const pcl::PointCloud< PointInT > &cloud, const pcl::Indices &indices, Eigen::Vector4f &plane_parameters, float &curvature)
 Compute the Least-Squares plane fit for a given set of points, using their indices, and return the estimated plane parameters together with the surface curvature. More...
 
bool computePointNormal (const pcl::PointCloud< PointInT > &cloud, const pcl::Indices &indices, float &nx, float &ny, float &nz, float &curvature)
 Compute the Least-Squares plane fit for a given set of points, using their indices, and return the estimated plane parameters together with the surface curvature. More...
 
void setInputCloud (const PointCloudConstPtr &cloud) override
 Provide a pointer to the input dataset. More...
 
void setViewPoint (float vpx, float vpy, float vpz)
 Set the viewpoint. More...
 
void getViewPoint (float &vpx, float &vpy, float &vpz)
 Get the viewpoint. More...
 
void useSensorOriginAsViewPoint ()
 sets whether the sensor origin or a user given viewpoint should be used. More...
 
- Public Member Functions inherited from pcl::Feature< PointInT, PointOutT >
 Feature ()
 Empty constructor. More...
 
void setSearchSurface (const PointCloudInConstPtr &cloud)
 Provide a pointer to a dataset to add additional information to estimate the features for every point in the input dataset. More...
 
PointCloudInConstPtr getSearchSurface () const
 Get a pointer to the surface point cloud dataset. More...
 
void setSearchMethod (const KdTreePtr &tree)
 Provide a pointer to the search object. More...
 
KdTreePtr getSearchMethod () const
 Get a pointer to the search method used. More...
 
double getSearchParameter () const
 Get the internal search parameter. More...
 
void setKSearch (int k)
 Set the number of k nearest neighbors to use for the feature estimation. More...
 
int getKSearch () const
 get the number of k nearest neighbors used for the feature estimation. More...
 
void setRadiusSearch (double radius)
 Set the sphere radius that is to be used for determining the nearest neighbors used for the feature estimation. More...
 
double getRadiusSearch () const
 Get the sphere radius used for determining the neighbors. More...
 
void compute (PointCloudOut &output)
 Base method for feature estimation for all points given in <setInputCloud (), setIndices ()> using the surface in setSearchSurface () and the spatial locator in setSearchMethod () More...
 
- Public Member Functions inherited from pcl::PCLBase< PointInT >
 PCLBase ()
 Empty constructor. More...
 
 PCLBase (const PCLBase &base)
 Copy constructor. More...
 
virtual ~PCLBase ()=default
 Destructor. More...
 
virtual void setInputCloud (const PointCloudConstPtr &cloud)
 Provide a pointer to the input dataset. More...
 
PointCloudConstPtr const getInputCloud () const
 Get a pointer to the input point cloud dataset. More...
 
virtual void setIndices (const IndicesPtr &indices)
 Provide a pointer to the vector of indices that represents the input data. More...
 
virtual void setIndices (const IndicesConstPtr &indices)
 Provide a pointer to the vector of indices that represents the input data. More...
 
virtual void setIndices (const PointIndicesConstPtr &indices)
 Provide a pointer to the vector of indices that represents the input data. More...
 
virtual void setIndices (std::size_t row_start, std::size_t col_start, std::size_t nb_rows, std::size_t nb_cols)
 Set the indices for the points laying within an interest region of the point cloud. More...
 
IndicesPtr getIndices ()
 Get a pointer to the vector of indices used. More...
 
IndicesConstPtr const getIndices () const
 Get a pointer to the vector of indices used. More...
 
const PointInT & operator[] (std::size_t pos) const
 Override PointCloud operator[] to shorten code. More...
 

Protected Attributes

unsigned int threads_
 The number of threads the scheduler should use. More...
 
int chunk_size_
 Chunk size for (dynamic) scheduling. More...
 
- Protected Attributes inherited from pcl::NormalEstimation< PointInT, PointOutT >
float vpx_ {0.0f}
 Values describing the viewpoint ("pinhole" camera model assumed). More...
 
float vpy_ {0.0f}
 
float vpz_ {0.0f}
 
EIGEN_ALIGN16 Eigen::Matrix3f covariance_matrix_
 Placeholder for the 3x3 covariance matrix at each surface patch. More...
 
Eigen::Vector4f xyz_centroid_
 16-bytes aligned placeholder for the XYZ centroid of a surface patch. More...
 
bool use_sensor_origin_ {true}
 whether the sensor origin of the input cloud or a user given viewpoint should be used. More...
 
- Protected Attributes inherited from pcl::Feature< PointInT, PointOutT >
std::string feature_name_
 The feature name. More...
 
SearchMethodSurface search_method_surface_
 The search method template for points. More...
 
PointCloudInConstPtr surface_
 An input point cloud describing the surface that is to be used for nearest neighbors estimation. More...
 
KdTreePtr tree_
 A pointer to the spatial search object. More...
 
double search_parameter_
 The actual search parameter (from either search_radius_ or k_). More...
 
double search_radius_
 The nearest neighbors search radius for each point. More...
 
int k_
 The number of K nearest neighbors to use for each point. More...
 
bool fake_surface_
 If no surface is given, we use the input PointCloud as the surface. More...
 
- Protected Attributes inherited from pcl::PCLBase< PointInT >
PointCloudConstPtr input_
 The input point cloud dataset. More...
 
IndicesPtr indices_
 A pointer to the vector of point indices to use. More...
 
bool use_indices_
 Set to true if point indices are used. More...
 
bool fake_indices_
 If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud. More...
 

Additional Inherited Members

- Protected Member Functions inherited from pcl::Feature< PointInT, PointOutT >
const std::string & getClassName () const
 Get a string representation of the name of this class. More...
 
virtual bool initCompute ()
 This method should get called before starting the actual computation. More...
 
virtual bool deinitCompute ()
 This method should get called after ending the actual computation. More...
 
int searchForNeighbors (std::size_t index, double parameter, pcl::Indices &indices, std::vector< float > &distances) const
 Search for k-nearest neighbors using the spatial locator from setSearchmethod, and the given surface from setSearchSurface. More...
 
int searchForNeighbors (const PointCloudIn &cloud, std::size_t index, double parameter, pcl::Indices &indices, std::vector< float > &distances) const
 Search for k-nearest neighbors using the spatial locator from setSearchmethod, and the given surface from setSearchSurface. More...
 
- Protected Member Functions inherited from pcl::PCLBase< PointInT >
bool initCompute ()
 This method should get called before starting the actual computation. More...
 
bool deinitCompute ()
 This method should get called after finishing the actual computation. More...
 

Detailed Description

template<typename PointInT, typename PointOutT>
class pcl::NormalEstimationOMP< PointInT, PointOutT >

NormalEstimationOMP estimates local surface properties at each 3D point, such as surface normals and curvatures, in parallel, using the OpenMP standard.

Author
Radu Bogdan Rusu

Definition at line 53 of file normal_3d_omp.h.

Member Typedef Documentation

◆ ConstPtr

template<typename PointInT , typename PointOutT >
using pcl::NormalEstimationOMP< PointInT, PointOutT >::ConstPtr = shared_ptr<const NormalEstimationOMP<PointInT, PointOutT> >

Definition at line 57 of file normal_3d_omp.h.

◆ PointCloudOut

template<typename PointInT , typename PointOutT >
using pcl::NormalEstimationOMP< PointInT, PointOutT >::PointCloudOut = typename NormalEstimation<PointInT, PointOutT>::PointCloudOut

Definition at line 70 of file normal_3d_omp.h.

◆ Ptr

template<typename PointInT , typename PointOutT >
using pcl::NormalEstimationOMP< PointInT, PointOutT >::Ptr = shared_ptr<NormalEstimationOMP<PointInT, PointOutT> >

Definition at line 56 of file normal_3d_omp.h.

Constructor & Destructor Documentation

◆ NormalEstimationOMP()

template<typename PointInT , typename PointOutT >
pcl::NormalEstimationOMP< PointInT, PointOutT >::NormalEstimationOMP ( unsigned int  nr_threads = 0,
int  chunk_size = 256 
)
inline

Initialize the scheduler and set the number of threads to use.

Parameters
nr_threadsthe number of hardware threads to use (0 sets the value back to automatic)
chunk_sizePCL will use dynamic scheduling with this chunk size. Setting it too low will lead to more parallelization overhead. Setting it too high will lead to a worse balancing between the threads.

Definition at line 77 of file normal_3d_omp.h.

References pcl::Feature< PointInT, PointOutT >::feature_name_, and pcl::NormalEstimationOMP< PointInT, PointOutT >::setNumberOfThreads().

Member Function Documentation

◆ setNumberOfThreads()

template<typename PointInT , typename PointOutT >
void pcl::NormalEstimationOMP< PointInT, PointOutT >::setNumberOfThreads ( unsigned int  nr_threads = 0)

Initialize the scheduler and set the number of threads to use.

Parameters
nr_threadsthe number of hardware threads to use (0 sets the value back to automatic)

Definition at line 48 of file normal_3d_omp.hpp.

Referenced by pcl::NormalEstimationOMP< PointInT, PointOutT >::NormalEstimationOMP().

Member Data Documentation

◆ chunk_size_

template<typename PointInT , typename PointOutT >
int pcl::NormalEstimationOMP< PointInT, PointOutT >::chunk_size_
protected

Chunk size for (dynamic) scheduling.

Definition at line 95 of file normal_3d_omp.h.

◆ threads_

template<typename PointInT , typename PointOutT >
unsigned int pcl::NormalEstimationOMP< PointInT, PointOutT >::threads_
protected

The number of threads the scheduler should use.

Definition at line 92 of file normal_3d_omp.h.


The documentation for this class was generated from the following files: