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> 
  class SHOTEstimationOMP : public SHOTEstimation<PointInT, PointNT, PointOutT>
  {
    public:
      using Feature<PointInT, PointOutT>::feature_name_;
      using Feature<PointInT, PointOutT>::getClassName;
      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 FeatureFromNormals<PointInT, PointNT, PointOutT>::normals_;
      using SHOTEstimation<PointInT, PointNT, PointOutT>::descLength_;
      using SHOTEstimation<PointInT, PointNT, PointOutT>::nr_grid_sector_;
      using SHOTEstimation<PointInT, PointNT, PointOutT>::nr_shape_bins_;
      using SHOTEstimation<PointInT, PointNT, PointOutT>::sqradius_;
      using SHOTEstimation<PointInT, PointNT, PointOutT>::radius3_4_;
      using SHOTEstimation<PointInT, PointNT, PointOutT>::radius1_4_;
      using SHOTEstimation<PointInT, PointNT, PointOutT>::radius1_2_;
      using SHOTEstimation<PointInT, PointNT, PointOutT>::rf_;

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

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

      int threads_;
  };

  template <typename PointNT, typename PointOutT> 
  class SHOTEstimationOMP<pcl::PointXYZRGBA, PointNT, PointOutT> : public SHOTEstimation<pcl::PointXYZRGBA, PointNT, PointOutT>
  {
    public:
      using Feature<pcl::PointXYZRGBA, PointOutT>::feature_name_;
      using Feature<pcl::PointXYZRGBA, PointOutT>::getClassName;
      using Feature<pcl::PointXYZRGBA, PointOutT>::indices_;
      using Feature<pcl::PointXYZRGBA, PointOutT>::k_;
      using Feature<pcl::PointXYZRGBA, PointOutT>::search_parameter_;
      using Feature<pcl::PointXYZRGBA, PointOutT>::search_radius_;
      using Feature<pcl::PointXYZRGBA, PointOutT>::surface_;
      using FeatureFromNormals<pcl::PointXYZRGBA, PointNT, PointOutT>::normals_;
      using SHOTEstimation<pcl::PointXYZRGBA, PointNT, PointOutT>::descLength_;
      using SHOTEstimation<pcl::PointXYZRGBA, PointNT, PointOutT>::nr_grid_sector_;
      using SHOTEstimation<pcl::PointXYZRGBA, PointNT, PointOutT>::nr_shape_bins_;
      using SHOTEstimation<pcl::PointXYZRGBA, PointNT, PointOutT>::sqradius_;
      using SHOTEstimation<pcl::PointXYZRGBA, PointNT, PointOutT>::radius3_4_;
      using SHOTEstimation<pcl::PointXYZRGBA, PointNT, PointOutT>::radius1_4_;
      using SHOTEstimation<pcl::PointXYZRGBA, PointNT, PointOutT>::radius1_2_;
      using SHOTEstimation<pcl::PointXYZRGBA, PointNT, PointOutT>::rf_;
      using SHOTEstimation<pcl::PointXYZRGBA, PointNT, PointOutT>::b_describe_shape_;
      using SHOTEstimation<pcl::PointXYZRGBA, PointNT, PointOutT>::b_describe_color_;
      using SHOTEstimation<pcl::PointXYZRGBA, PointNT, PointOutT>::nr_color_bins_;

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

      SHOTEstimationOMP (bool describeShape = true, 
                         bool describeColor = false, 
                         unsigned int nr_threads = - 1) 
        : SHOTEstimation<pcl::PointXYZRGBA, PointNT, PointOutT> (describeShape, describeColor)
      {
        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_