Point Cloud Library (PCL) 1.12.1
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
46namespace 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:223
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
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
~SHOTLocalReferenceFrameEstimationOMP()
Empty destructor.
Definition: shot_lrf_omp.h:80
Defines all the PCL implemented PointT point type structures.