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>
47 template <
typename Po
intInT,
typename Po
intOutT>
void
52 std::vector<int> nn_indices (k_);
53 std::vector<float> nn_dists (k_);
55 output.is_dense =
true;
61 #pragma omp parallel for shared (output) private (nn_indices, nn_dists) num_threads(threads_)
64 for (
int idx = 0; idx < static_cast<int> (indices_->size ()); ++idx)
66 if (this->searchForNeighbors ((*indices_)[idx], search_parameter_, nn_indices, nn_dists) == 0)
68 output.points[idx].normal[0] = output.points[idx].normal[1] = output.points[idx].normal[2] = output.points[idx].curvature = std::numeric_limits<float>::quiet_NaN ();
70 output.is_dense =
false;
75 pcl::computePointNormal<PointInT> (*surface_, nn_indices,
77 output.points[idx].curvature);
79 output.points[idx].normal_x = n[0];
80 output.points[idx].normal_y = n[1];
81 output.points[idx].normal_z = n[2];
84 output.points[idx].normal[0],
85 output.points[idx].normal[1],
86 output.points[idx].normal[2]);
92 #pragma omp parallel for shared (output) private (nn_indices, nn_dists) num_threads(threads_)
95 for (
int idx = 0; idx < static_cast<int> (indices_->size ()); ++idx)
97 if (!isFinite ((*input_)[(*indices_)[idx]]) ||
98 this->searchForNeighbors ((*indices_)[idx], search_parameter_, nn_indices, nn_dists) == 0)
100 output.points[idx].normal[0] = output.points[idx].normal[1] = output.points[idx].normal[2] = output.points[idx].curvature = std::numeric_limits<float>::quiet_NaN ();
102 output.is_dense =
false;
107 pcl::computePointNormal<PointInT> (*surface_, nn_indices,
109 output.points[idx].curvature);
111 output.points[idx].normal_x = n[0];
112 output.points[idx].normal_y = n[1];
113 output.points[idx].normal_z = n[2];
116 output.points[idx].normal[0], output.points[idx].normal[1], output.points[idx].normal[2]);
121 #define PCL_INSTANTIATE_NormalEstimationOMP(T,NT) template class PCL_EXPORTS pcl::NormalEstimationOMP<T,NT>;
123 #endif // PCL_FEATURES_IMPL_NORMAL_3D_OMP_H_
NormalEstimationOMP estimates local surface properties at each 3D point, such as surface normals and ...
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.