normal_3d_omp.h

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 * $Id: normal_3d_omp.h 4864 2012-03-01 01:11:22Z rusu $
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#ifndef PCL_NORMAL_3D_OMP_H_
#define PCL_NORMAL_3D_OMP_H_

#include <pcl/features/normal_3d.h>

namespace pcl
{
  template <typename PointInT, typename PointOutT>
  class NormalEstimationOMP: public NormalEstimation<PointInT, PointOutT>
  {
    public:
      using NormalEstimation<PointInT, PointOutT>::feature_name_;
      using NormalEstimation<PointInT, PointOutT>::getClassName;
      using NormalEstimation<PointInT, PointOutT>::indices_;
      using NormalEstimation<PointInT, PointOutT>::input_;
      using NormalEstimation<PointInT, PointOutT>::k_;
      using NormalEstimation<PointInT, PointOutT>::search_parameter_;
      using NormalEstimation<PointInT, PointOutT>::surface_;
      using NormalEstimation<PointInT, PointOutT>::getViewPoint;

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

    public:
      NormalEstimationOMP () : threads_ (1) 
      {
        feature_name_ = "NormalEstimationOMP";
      };

      NormalEstimationOMP (unsigned int nr_threads) : threads_ (1)
      {
        setNumberOfThreads (nr_threads);
        feature_name_ = "NormalEstimationOMP";
      }

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


    protected:
      unsigned int threads_;

    private:
      void 
      computeFeature (PointCloudOut &output);

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

  template <typename PointInT>
  class NormalEstimationOMP<PointInT, Eigen::MatrixXf>: public NormalEstimationOMP<PointInT, pcl::Normal>
  {
    public:
      using NormalEstimationOMP<PointInT, pcl::Normal>::indices_;
      using NormalEstimationOMP<PointInT, pcl::Normal>::search_parameter_;
      using NormalEstimationOMP<PointInT, pcl::Normal>::k_;
      using NormalEstimationOMP<PointInT, pcl::Normal>::input_;
      using NormalEstimationOMP<PointInT, pcl::Normal>::surface_;
      using NormalEstimationOMP<PointInT, pcl::Normal>::getViewPoint;
      using NormalEstimationOMP<PointInT, pcl::Normal>::threads_;
      using NormalEstimationOMP<PointInT, pcl::Normal>::compute;

      NormalEstimationOMP () : NormalEstimationOMP<PointInT, pcl::Normal> () {}

      NormalEstimationOMP (unsigned int nr_threads) : NormalEstimationOMP<PointInT, pcl::Normal> (nr_threads) {}

    private:
      void 
      computeFeatureEigen (pcl::PointCloud<Eigen::MatrixXf> &output);

      void 
      compute (pcl::PointCloud<pcl::Normal> &) {}
    };
}

#endif  //#ifndef PCL_NORMAL_3D_OMP_H_