shot_lrf_omp.h

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#ifndef PCL_FEATURES_SHOT_LRF_OMP_H_
#define PCL_FEATURES_SHOT_LRF_OMP_H_

#include <pcl/point_types.h>
#include <pcl/features/feature.h>
#include <pcl/features/shot_lrf.h>

namespace pcl
{
  template<typename PointInT, typename PointOutT = ReferenceFrame>
  class SHOTLocalReferenceFrameEstimationOMP : public SHOTLocalReferenceFrameEstimation<PointInT, PointOutT>
  {
    public:
    SHOTLocalReferenceFrameEstimationOMP ()
      {
        feature_name_ = "SHOTLocalReferenceFrameEstimationOMP";
        threads_ = 1;
      }

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

    protected:
      using Feature<PointInT, PointOutT>::feature_name_;
      using Feature<PointInT, PointOutT>::getClassName;
      //using Feature<PointInT, PointOutT>::searchForNeighbors;
      using Feature<PointInT, PointOutT>::input_;
      using Feature<PointInT, PointOutT>::indices_;
      using Feature<PointInT, PointOutT>::surface_;
      using Feature<PointInT, PointOutT>::tree_;
      using Feature<PointInT, PointOutT>::search_parameter_;
      using SHOTLocalReferenceFrameEstimation<PointInT, PointOutT>::getLocalRF;
      typedef typename Feature<PointInT, PointOutT>::PointCloudIn PointCloudIn;
      typedef typename Feature<PointInT, PointOutT>::PointCloudOut PointCloudOut;

      virtual void
      computeFeature (PointCloudOut &output);

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

      int threads_;

  };
}

#endif    // PCL_FEATURES_SHOT_LRF_H_