Point Cloud Library (PCL)  1.14.1-dev
normal_3d_omp.h
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40 
41 #pragma once
42 
43 #include <pcl/features/normal_3d.h>
44 
45 namespace pcl
46 {
47  /** \brief NormalEstimationOMP estimates local surface properties at each 3D point, such as surface normals and
48  * curvatures, in parallel, using the OpenMP standard.
49  * \author Radu Bogdan Rusu
50  * \ingroup features
51  */
52  template <typename PointInT, typename PointOutT>
53  class NormalEstimationOMP: public NormalEstimation<PointInT, PointOutT>
54  {
55  public:
56  using Ptr = shared_ptr<NormalEstimationOMP<PointInT, PointOutT> >;
57  using ConstPtr = shared_ptr<const NormalEstimationOMP<PointInT, PointOutT> >;
69 
71 
72  public:
73  /** \brief Initialize the scheduler and set the number of threads to use.
74  * \param nr_threads the number of hardware threads to use (0 sets the value back to automatic)
75  * \param chunk_size PCL 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.
76  */
77  NormalEstimationOMP (unsigned int nr_threads = 0, int chunk_size = 256): chunk_size_(chunk_size)
78  {
79  feature_name_ = "NormalEstimationOMP";
80 
81  setNumberOfThreads(nr_threads);
82  }
83 
84  /** \brief Initialize the scheduler and set the number of threads to use.
85  * \param nr_threads the number of hardware threads to use (0 sets the value back to automatic)
86  */
87  void
88  setNumberOfThreads (unsigned int nr_threads = 0);
89 
90  protected:
91  /** \brief The number of threads the scheduler should use. */
92  unsigned int threads_;
93 
94  /** \brief Chunk size for (dynamic) scheduling. */
96  private:
97  /** \brief Estimate normals for all points given in <setInputCloud (), setIndices ()> using the surface in
98  * setSearchSurface () and the spatial locator in setSearchMethod ()
99  * \param output the resultant point cloud model dataset that contains surface normals and curvatures
100  */
101  void
102  computeFeature (PointCloudOut &output) override;
103  };
104 }
105 
106 #ifdef PCL_NO_PRECOMPILE
107 #include <pcl/features/impl/normal_3d_omp.hpp>
108 #endif
shared_ptr< Feature< PointInT, PointOutT > > Ptr
Definition: feature.h:114
std::string feature_name_
The feature name.
Definition: feature.h:220
shared_ptr< const Feature< PointInT, PointOutT > > ConstPtr
Definition: feature.h:115
NormalEstimation estimates local surface properties (surface normals and curvatures)at each 3D point.
Definition: normal_3d.h:244
typename Feature< PointInT, PointOutT >::PointCloudOut PointCloudOut
Definition: normal_3d.h:257
NormalEstimationOMP estimates local surface properties at each 3D point, such as surface normals and ...
Definition: normal_3d_omp.h:54
int chunk_size_
Chunk size for (dynamic) scheduling.
Definition: normal_3d_omp.h:95
unsigned int threads_
The number of threads the scheduler should use.
Definition: normal_3d_omp.h:92
void setNumberOfThreads(unsigned int nr_threads=0)
Initialize the scheduler and set the number of threads to use.
NormalEstimationOMP(unsigned int nr_threads=0, int chunk_size=256)
Initialize the scheduler and set the number of threads to use.
Definition: normal_3d_omp.h:77