Point Cloud Library (PCL) 1.15.0
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normal_3d_omp.hpp
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40
41#ifndef PCL_FEATURES_IMPL_NORMAL_3D_OMP_H_
42#define PCL_FEATURES_IMPL_NORMAL_3D_OMP_H_
43
44#include <pcl/features/normal_3d_omp.h>
45
46///////////////////////////////////////////////////////////////////////////////////////////
47template <typename PointInT, typename PointOutT> void
49{
50#ifdef _OPENMP
51 if (nr_threads == 0)
52 threads_ = omp_get_num_procs();
53 else
54 threads_ = nr_threads;
55 PCL_DEBUG ("[pcl::NormalEstimationOMP::setNumberOfThreads] Setting number of threads to %u.\n", threads_);
56#else
57 threads_ = 1;
58 if (nr_threads != 1)
59 PCL_WARN ("[pcl::NormalEstimationOMP::setNumberOfThreads] Parallelization is requested, but OpenMP is not available! Continuing without parallelization.\n");
60#endif // _OPENMP
61}
62
63///////////////////////////////////////////////////////////////////////////////////////////
64template <typename PointInT, typename PointOutT> void
66{
67 // Allocate enough space to hold the results
68 // \note This resize is irrelevant for a radiusSearch ().
69 pcl::Indices nn_indices (k_);
70 std::vector<float> nn_dists (k_);
71
72 output.is_dense = true;
73 // Save a few cycles by not checking every point for NaN/Inf values if the cloud is set to dense
74 if (input_->is_dense)
75 {
76#pragma omp parallel for \
77 default(none) \
78 shared(output) \
79 firstprivate(nn_indices, nn_dists) \
80 num_threads(threads_) \
81 schedule(dynamic, chunk_size_)
82 // Iterating over the entire index vector
83 for (std::ptrdiff_t idx = 0; idx < static_cast<std::ptrdiff_t> (indices_->size ()); ++idx)
84 {
85 Eigen::Vector4f n;
86 if (this->searchForNeighbors ((*indices_)[idx], search_parameter_, nn_indices, nn_dists) == 0 ||
87 !pcl::computePointNormal (*surface_, nn_indices, n, output[idx].curvature))
88 {
89 output[idx].normal[0] = output[idx].normal[1] = output[idx].normal[2] = output[idx].curvature = std::numeric_limits<float>::quiet_NaN ();
90
91 output.is_dense = false;
92 continue;
93 }
94
95 output[idx].normal_x = n[0];
96 output[idx].normal_y = n[1];
97 output[idx].normal_z = n[2];
98
99 flipNormalTowardsViewpoint ((*input_)[(*indices_)[idx]], vpx_, vpy_, vpz_,
100 output[idx].normal[0], output[idx].normal[1], output[idx].normal[2]);
101
102 }
103 }
104 else
105 {
106#pragma omp parallel for \
107 default(none) \
108 shared(output) \
109 firstprivate(nn_indices, nn_dists) \
110 num_threads(threads_) \
111 schedule(dynamic, chunk_size_)
112 // Iterating over the entire index vector
113 for (std::ptrdiff_t idx = 0; idx < static_cast<std::ptrdiff_t> (indices_->size ()); ++idx)
114 {
115 Eigen::Vector4f n;
116 if (!isFinite ((*input_)[(*indices_)[idx]]) ||
117 this->searchForNeighbors ((*indices_)[idx], search_parameter_, nn_indices, nn_dists) == 0 ||
118 !pcl::computePointNormal (*surface_, nn_indices, n, output[idx].curvature))
119 {
120 output[idx].normal[0] = output[idx].normal[1] = output[idx].normal[2] = output[idx].curvature = std::numeric_limits<float>::quiet_NaN ();
121
122 output.is_dense = false;
123 continue;
124 }
125
126 output[idx].normal_x = n[0];
127 output[idx].normal_y = n[1];
128 output[idx].normal_z = n[2];
129
130 flipNormalTowardsViewpoint ((*input_)[(*indices_)[idx]], vpx_, vpy_, vpz_,
131 output[idx].normal[0], output[idx].normal[1], output[idx].normal[2]);
132
133 }
134 }
135}
136
137#define PCL_INSTANTIATE_NormalEstimationOMP(T,NT) template class PCL_EXPORTS pcl::NormalEstimationOMP<T,NT>;
138
139#endif // PCL_FEATURES_IMPL_NORMAL_3D_OMP_H_
140
NormalEstimationOMP estimates local surface properties at each 3D point, such as surface normals and ...
void setNumberOfThreads(unsigned int nr_threads=0)
Initialize the scheduler and set the number of threads to use.
void flipNormalTowardsViewpoint(const PointT &point, float vp_x, float vp_y, float vp_z, Eigen::Matrix< Scalar, 4, 1 > &normal)
Flip (in place) the estimated normal of a point towards a given viewpoint.
Definition normal_3d.h:122
bool computePointNormal(const pcl::PointCloud< PointT > &cloud, Eigen::Vector4f &plane_parameters, float &curvature)
Compute the Least-Squares plane fit for a given set of points, and return the estimated plane paramet...
Definition normal_3d.h:61
IndicesAllocator<> Indices
Type used for indices in PCL.
Definition types.h:133