shot_omp.h

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#ifndef PCL_SHOT_OMP_H_
#define PCL_SHOT_OMP_H_

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

namespace pcl
{
  template <typename PointInT, typename PointNT, typename PointOutT = pcl::SHOT352, typename PointRFT = pcl::ReferenceFrame>
  class SHOTEstimationOMP : public SHOTEstimation<PointInT, PointNT, PointOutT, PointRFT>
  {
    public:
      using Feature<PointInT, PointOutT>::feature_name_;
      using Feature<PointInT, PointOutT>::getClassName;
      using Feature<PointInT, PointOutT>::input_;
      using Feature<PointInT, PointOutT>::indices_;
      using Feature<PointInT, PointOutT>::k_;
      using Feature<PointInT, PointOutT>::search_parameter_;
      using Feature<PointInT, PointOutT>::search_radius_;
      using Feature<PointInT, PointOutT>::surface_;
      using Feature<PointInT, PointOutT>::fake_surface_;
      using FeatureFromNormals<PointInT, PointNT, PointOutT>::normals_;
      using FeatureWithLocalReferenceFrames<PointInT, PointRFT>::frames_;
      using SHOTEstimation<PointInT, PointNT, PointOutT, PointRFT>::descLength_;
      using SHOTEstimation<PointInT, PointNT, PointOutT, PointRFT>::nr_grid_sector_;
      using SHOTEstimation<PointInT, PointNT, PointOutT, PointRFT>::nr_shape_bins_;
      using SHOTEstimation<PointInT, PointNT, PointOutT, PointRFT>::sqradius_;
      using SHOTEstimation<PointInT, PointNT, PointOutT, PointRFT>::radius3_4_;
      using SHOTEstimation<PointInT, PointNT, PointOutT, PointRFT>::radius1_4_;
      using SHOTEstimation<PointInT, PointNT, PointOutT, PointRFT>::radius1_2_;

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

      SHOTEstimationOMP (unsigned int nr_threads = - 1) : SHOTEstimation<PointInT, PointNT, PointOutT, PointRFT> (), threads_ ()
      {
        setNumberOfThreads (nr_threads);
      }

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

    protected:

      void
      computeFeature (PointCloudOut &output);

      bool
      initCompute ();

      int threads_;
  };

  template <typename PointInT, typename PointNT, typename PointOutT = pcl::SHOT1344, typename PointRFT = pcl::ReferenceFrame>
  class SHOTColorEstimationOMP : public SHOTColorEstimation<PointInT, PointNT, PointOutT, PointRFT>
  {
    public:
      using Feature<PointInT, PointOutT>::feature_name_;
      using Feature<PointInT, PointOutT>::getClassName;
      using Feature<PointInT, PointOutT>::input_;
      using Feature<PointInT, PointOutT>::indices_;
      using Feature<PointInT, PointOutT>::k_;
      using Feature<PointInT, PointOutT>::search_parameter_;
      using Feature<PointInT, PointOutT>::search_radius_;
      using Feature<PointInT, PointOutT>::surface_;
      using Feature<PointInT, PointOutT>::fake_surface_;
      using FeatureFromNormals<PointInT, PointNT, PointOutT>::normals_;
      using FeatureWithLocalReferenceFrames<PointInT, PointRFT>::frames_;
      using SHOTColorEstimation<PointInT, PointNT, PointOutT, PointRFT>::descLength_;
      using SHOTColorEstimation<PointInT, PointNT, PointOutT, PointRFT>::nr_grid_sector_;
      using SHOTColorEstimation<PointInT, PointNT, PointOutT, PointRFT>::nr_shape_bins_;
      using SHOTColorEstimation<PointInT, PointNT, PointOutT, PointRFT>::sqradius_;
      using SHOTColorEstimation<PointInT, PointNT, PointOutT, PointRFT>::radius3_4_;
      using SHOTColorEstimation<PointInT, PointNT, PointOutT, PointRFT>::radius1_4_;
      using SHOTColorEstimation<PointInT, PointNT, PointOutT, PointRFT>::radius1_2_;
      using SHOTColorEstimation<PointInT, PointNT, PointOutT, PointRFT>::b_describe_shape_;
      using SHOTColorEstimation<PointInT, PointNT, PointOutT, PointRFT>::b_describe_color_;
      using SHOTColorEstimation<PointInT, PointNT, PointOutT, PointRFT>::nr_color_bins_;

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

      SHOTColorEstimationOMP (bool describe_shape = true,
                              bool describe_color = true,
                              unsigned int nr_threads = - 1)
        : SHOTColorEstimation<PointInT, PointNT, PointOutT, PointRFT> (describe_shape, describe_color), threads_ ()
      {
        setNumberOfThreads (nr_threads);
      }

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

    protected:

      void
      computeFeature (PointCloudOut &output);

      bool
      initCompute ();

      int threads_;
  };

  template <typename PointInT, typename PointNT, typename PointRFT>
  class PCL_DEPRECATED_CLASS (SHOTEstimationOMP, "SHOTEstimationOMP<..., pcl::SHOT, ...> IS DEPRECATED, USE SHOTEstimationOMP<..., pcl::SHOT352, ...> INSTEAD")
    <PointInT, PointNT, pcl::SHOT, PointRFT>
    : public SHOTEstimation<PointInT, PointNT, pcl::SHOT, PointRFT>
  {
    public:
      using Feature<PointInT, pcl::SHOT>::feature_name_;
      using Feature<PointInT, pcl::SHOT>::getClassName;
      using Feature<PointInT, pcl::SHOT>::input_;
      using Feature<PointInT, pcl::SHOT>::indices_;
      using Feature<PointInT, pcl::SHOT>::k_;
      using Feature<PointInT, pcl::SHOT>::search_parameter_;
      using Feature<PointInT, pcl::SHOT>::search_radius_;
      using Feature<PointInT, pcl::SHOT>::surface_;
      using Feature<PointInT, pcl::SHOT>::fake_surface_;
      using FeatureFromNormals<PointInT, PointNT, pcl::SHOT>::normals_;
      using FeatureWithLocalReferenceFrames<PointInT, PointRFT>::frames_;
      using SHOTEstimation<PointInT, PointNT, pcl::SHOT, PointRFT>::descLength_;
      using SHOTEstimation<PointInT, PointNT, pcl::SHOT, PointRFT>::nr_grid_sector_;
      using SHOTEstimation<PointInT, PointNT, pcl::SHOT, PointRFT>::nr_shape_bins_;
      using SHOTEstimation<PointInT, PointNT, pcl::SHOT, PointRFT>::sqradius_;
      using SHOTEstimation<PointInT, PointNT, pcl::SHOT, PointRFT>::radius3_4_;
      using SHOTEstimation<PointInT, PointNT, pcl::SHOT, PointRFT>::radius1_4_;
      using SHOTEstimation<PointInT, PointNT, pcl::SHOT, PointRFT>::radius1_2_;

      typedef typename Feature<PointInT, pcl::SHOT>::PointCloudOut PointCloudOut;
      typedef typename Feature<PointInT, pcl::SHOT>::PointCloudIn PointCloudIn;

      SHOTEstimationOMP (unsigned int nr_threads = - 1, int nr_shape_bins = 10)
        : SHOTEstimation<PointInT, PointNT, pcl::SHOT, PointRFT> (nr_shape_bins), threads_ ()
      {
        setNumberOfThreads (nr_threads);
      }

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

    protected:

      void
      computeFeature (PointCloudOut &output);

      bool
      initCompute ();

      int threads_;
  };

  template <typename PointNT, typename PointRFT>
  class PCL_DEPRECATED_CLASS (SHOTEstimationOMP, "SHOTEstimationOMP<pcl::PointXYZRGBA,...,pcl::SHOT,...> IS DEPRECATED, USE SHOTEstimationOMP<pcl::PointXYZRGBA,...,pcl::SHOT352,...> FOR SHAPE AND SHOTColorEstimationOMP<pcl::PointXYZRGBA,...,pcl::SHOT1344,...> FOR SHAPE+COLOR INSTEAD")
    <pcl::PointXYZRGBA, PointNT, pcl::SHOT, PointRFT>
    : public SHOTEstimation<pcl::PointXYZRGBA, PointNT, pcl::SHOT, PointRFT>
  {
    public:
      using SHOTEstimation<pcl::PointXYZRGBA, PointNT, pcl::SHOT, PointRFT>::feature_name_;
      using SHOTEstimation<pcl::PointXYZRGBA, PointNT, pcl::SHOT, PointRFT>::getClassName;
      using SHOTEstimation<pcl::PointXYZRGBA, PointNT, pcl::SHOT, PointRFT>::input_;
      using SHOTEstimation<pcl::PointXYZRGBA, PointNT, pcl::SHOT, PointRFT>::indices_;
      using SHOTEstimation<pcl::PointXYZRGBA, PointNT, pcl::SHOT, PointRFT>::k_;
      using SHOTEstimation<pcl::PointXYZRGBA, PointNT, pcl::SHOT, PointRFT>::search_parameter_;
      using SHOTEstimation<pcl::PointXYZRGBA, PointNT, pcl::SHOT, PointRFT>::search_radius_;
      using SHOTEstimation<pcl::PointXYZRGBA, PointNT, pcl::SHOT, PointRFT>::surface_;
      using FeatureFromNormals<pcl::PointXYZRGBA, PointNT, pcl::SHOT>::normals_;
      using FeatureWithLocalReferenceFrames<pcl::PointXYZRGBA, PointRFT>::frames_;
      using SHOTEstimation<pcl::PointXYZRGBA, PointNT, pcl::SHOT, PointRFT>::descLength_;
      using SHOTEstimation<pcl::PointXYZRGBA, PointNT, pcl::SHOT, PointRFT>::nr_grid_sector_;
      using SHOTEstimation<pcl::PointXYZRGBA, PointNT, pcl::SHOT, PointRFT>::nr_shape_bins_;
      using SHOTEstimation<pcl::PointXYZRGBA, PointNT, pcl::SHOT, PointRFT>::sqradius_;
      using SHOTEstimation<pcl::PointXYZRGBA, PointNT, pcl::SHOT, PointRFT>::radius3_4_;
      using SHOTEstimation<pcl::PointXYZRGBA, PointNT, pcl::SHOT, PointRFT>::radius1_4_;
      using SHOTEstimation<pcl::PointXYZRGBA, PointNT, pcl::SHOT, PointRFT>::radius1_2_;
      using SHOTEstimation<pcl::PointXYZRGBA, PointNT, pcl::SHOT, PointRFT>::b_describe_shape_;
      using SHOTEstimation<pcl::PointXYZRGBA, PointNT, pcl::SHOT, PointRFT>::b_describe_color_;
      using SHOTEstimation<pcl::PointXYZRGBA, PointNT, pcl::SHOT, PointRFT>::nr_color_bins_;

      typedef typename Feature<pcl::PointXYZRGBA, pcl::SHOT>::PointCloudOut PointCloudOut;
      typedef typename Feature<pcl::PointXYZRGBA, pcl::SHOT>::PointCloudIn PointCloudIn;

      SHOTEstimationOMP (bool describeShape = true,
                         bool describeColor = false,
                         unsigned int nr_threads = - 1,
                         const int nr_shape_bins = 10,
                         const int nr_color_bins = 30)
        : SHOTEstimation<pcl::PointXYZRGBA, PointNT, pcl::SHOT, PointRFT> (describeShape, describeColor, nr_shape_bins, nr_color_bins),
          threads_ ()
      {
        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);

      int threads_;
  };
}

#endif  //#ifndef PCL_SHOT_OMP_H_