43#include <pcl/features/feature.h>
44#include <pcl/features/shot.h>
68 template <
typename Po
intInT,
typename Po
intNT,
typename Po
intOutT = pcl::SHOT352,
typename Po
intRFT = pcl::ReferenceFrame>
72 using Ptr = shared_ptr<SHOTEstimationOMP<PointInT, PointNT, PointOutT, PointRFT> >;
73 using ConstPtr = shared_ptr<const SHOTEstimationOMP<PointInT, PointNT, PointOutT, PointRFT> >;
147 template <
typename Po
intInT,
typename Po
intNT,
typename Po
intOutT = pcl::SHOT1344,
typename Po
intRFT = pcl::ReferenceFrame>
151 using Ptr = shared_ptr<SHOTColorEstimationOMP<PointInT, PointNT, PointOutT, PointRFT> >;
152 using ConstPtr = shared_ptr<const SHOTColorEstimationOMP<PointInT, PointNT, PointOutT, PointRFT> >;
181 bool describe_color =
true,
182 unsigned int nr_threads = 0)
183 :
SHOTColorEstimation<PointInT, PointNT, PointOutT, PointRFT> (describe_shape, describe_color)
214#ifdef PCL_NO_PRECOMPILE
215#include <pcl/features/impl/shot_omp.hpp>
PointCloudNConstPtr normals_
Feature represents the base feature class.
const std::string & getClassName() const
std::string feature_name_
PointCloudInConstPtr surface_
FeatureWithLocalReferenceFrames provides a public interface for descriptor extractor classes which ne...
PointCloudLRFConstPtr frames_
PointCloudConstPtr input_
SHOTColorEstimation estimates the Signature of Histograms of OrienTations (SHOT) descriptor for a giv...
SHOTColorEstimationOMP estimates the Signature of Histograms of OrienTations (SHOT) descriptor for a ...
void setNumberOfThreads(unsigned int nr_threads=0)
Initialize the scheduler and set the number of threads to use.
typename Feature< PointInT, PointOutT >::PointCloudOut PointCloudOut
unsigned int threads_
The number of threads the scheduler should use.
SHOTColorEstimationOMP(bool describe_shape=true, bool describe_color=true, unsigned int nr_threads=0)
Empty constructor.
typename Feature< PointInT, PointOutT >::PointCloudIn PointCloudIn
shared_ptr< SHOTColorEstimationOMP< PointInT, PointNT, PointOutT, PointRFT > > Ptr
shared_ptr< const SHOTColorEstimationOMP< PointInT, PointNT, PointOutT, PointRFT > > ConstPtr
void computeFeature(PointCloudOut &output) override
Estimate the Signatures of Histograms of OrienTations (SHOT) descriptors at a set of points given by ...
bool initCompute() override
This method should get called before starting the actual computation.
SHOTEstimation estimates the Signature of Histograms of OrienTations (SHOT) descriptor for a given po...
const int nr_grid_sector_
SHOTEstimation estimates the Signature of Histograms of OrienTations (SHOT) descriptor for a given po...
SHOTEstimationOMP estimates the Signature of Histograms of OrienTations (SHOT) descriptor for a given...
unsigned int threads_
The number of threads the scheduler should use.
void setNumberOfThreads(unsigned int nr_threads=0)
Initialize the scheduler and set the number of threads to use.
bool initCompute() override
This method should get called before starting the actual computation.
void computeFeature(PointCloudOut &output) override
Estimate the Signatures of Histograms of OrienTations (SHOT) descriptors at a set of points given by ...
SHOTEstimationOMP(unsigned int nr_threads=0)
Empty constructor.
shared_ptr< SHOTEstimationOMP< PointInT, PointNT, PointOutT, PointRFT > > Ptr
typename Feature< PointInT, PointOutT >::PointCloudIn PointCloudIn
shared_ptr< const SHOTEstimationOMP< PointInT, PointNT, PointOutT, PointRFT > > ConstPtr
typename Feature< PointInT, PointOutT >::PointCloudOut PointCloudOut
Defines all the PCL implemented PointT point type structures.