fpfh_omp.h

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 * $Id: fpfh_omp.h 4864 2012-03-01 01:11:22Z rusu $
 *
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#ifndef PCL_FPFH_OMP_H_
#define PCL_FPFH_OMP_H_

#include <pcl/features/feature.h>
#include <pcl/features/fpfh.h>

namespace pcl
{
  template <typename PointInT, typename PointNT, typename PointOutT>
  class FPFHEstimationOMP : public FPFHEstimation<PointInT, PointNT, PointOutT>
  {
    public:
      using Feature<PointInT, PointOutT>::feature_name_;
      using Feature<PointInT, PointOutT>::getClassName;
      using Feature<PointInT, PointOutT>::indices_;
      using Feature<PointInT, PointOutT>::k_;
      using Feature<PointInT, PointOutT>::search_parameter_;
      using Feature<PointInT, PointOutT>::input_;
      using Feature<PointInT, PointOutT>::surface_;
      using FeatureFromNormals<PointInT, PointNT, PointOutT>::normals_;
      using FPFHEstimation<PointInT, PointNT, PointOutT>::hist_f1_;
      using FPFHEstimation<PointInT, PointNT, PointOutT>::hist_f2_;
      using FPFHEstimation<PointInT, PointNT, PointOutT>::hist_f3_;
      using FPFHEstimation<PointInT, PointNT, PointOutT>::weightPointSPFHSignature;

      typedef typename Feature<PointInT, PointOutT>::PointCloudOut PointCloudOut;

      FPFHEstimationOMP () : nr_bins_f1_ (11), nr_bins_f2_ (11), nr_bins_f3_ (11), threads_ (1) 
      {
        feature_name_ = "FPFHEstimationOMP";
      };

      FPFHEstimationOMP (unsigned int nr_threads) : nr_bins_f1_ (11), nr_bins_f2_ (11), nr_bins_f3_ (11), threads_ (0)
      {
        setNumberOfThreads (nr_threads);
      }

      inline void 
      setNumberOfThreads (unsigned int nr_threads) 
      { 
        if (nr_threads == 0)
          nr_threads = 1;
        threads_ = nr_threads; 
      }

    private:
      void 
      computeFeature (PointCloudOut &output);

    public:
      int nr_bins_f1_, nr_bins_f2_, nr_bins_f3_;
    private:
      unsigned int threads_;

      void 
      computeFeatureEigen (pcl::PointCloud<Eigen::MatrixXf> &) {}
  };
}

#endif  //#ifndef PCL_FPFH_OMP_H_