41#ifndef PCL_FEATURES_IMPL_NORMAL_3D_OMP_H_
42#define PCL_FEATURES_IMPL_NORMAL_3D_OMP_H_
44#include <pcl/features/normal_3d_omp.h>
47template <
typename Po
intInT,
typename Po
intOutT>
void
61template <
typename Po
intInT,
typename Po
intOutT>
void
73#pragma omp parallel for \
76 firstprivate(nn_indices, nn_dists) \
82 if (this->searchForNeighbors ((*indices_)[idx], search_parameter_,
nn_indices,
nn_dists) == 0 ||
85 output[idx].normal[0] =
output[idx].normal[1] =
output[idx].normal[2] =
output[idx].curvature = std::numeric_limits<float>::quiet_NaN ();
91 output[idx].normal_x = n[0];
92 output[idx].normal_y = n[1];
93 output[idx].normal_z = n[2];
96 output[idx].normal[0], output[idx].normal[1], output[idx].normal[2]);
102#pragma omp parallel for \
105 firstprivate(nn_indices, nn_dists) \
106 num_threads(threads_)
108 for (std::ptrdiff_t idx = 0; idx < static_cast<std::ptrdiff_t> (indices_->size ()); ++idx)
111 if (!
isFinite ((*input_)[(*indices_)[idx]]) ||
112 this->searchForNeighbors ((*indices_)[idx], search_parameter_, nn_indices, nn_dists) == 0 ||
115 output[idx].normal[0] = output[idx].normal[1] = output[idx].normal[2] = output[idx].curvature = std::numeric_limits<float>::quiet_NaN ();
117 output.is_dense =
false;
121 output[idx].normal_x = n[0];
122 output[idx].normal_y = n[1];
123 output[idx].normal_z = n[2];
126 output[idx].normal[0], output[idx].normal[1], output[idx].normal[2]);
132#define PCL_INSTANTIATE_NormalEstimationOMP(T,NT) template class PCL_EXPORTS pcl::NormalEstimationOMP<T,NT>;
Iterator class for point clouds with or without given indices.
ConstCloudIterator(const PointCloud< PointT > &cloud)
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.
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...
bool isFinite(const PointT &pt)
Tests if the 3D components of a point are all finite param[in] pt point to be tested return true if f...
IndicesAllocator<> Indices
Type used for indices in PCL.