31#pragma omp parallel for \
35 for (
int i = 0; i < particle_num_; i++)
36 this->computeTransformedPointCloudWithoutNormal((*particles_)[i],
37 *transed_reference_vector_[i]);
41 if (change_counter_ == 0) {
43 if (!use_change_detector_ || this->testChangeDetection(
coherence_input)) {
45 change_counter_ = change_detector_interval_;
47 coherence_->initCompute();
49#pragma omp parallel for \
53 for (
int i = 0; i < particle_num_; i++) {
56 transed_reference_vector_[i], indices, (*particles_)[i].weight);
65 coherence_->initCompute();
67#pragma omp parallel for \
71 for (
int i = 0; i < particle_num_; i++) {
74 transed_reference_vector_[i], indices, (*particles_)[i].weight);
80 for (
int i = 0; i < particle_num_; i++) {
84#pragma omp parallel for \
86 shared(indices_list) \
89 for (
int i = 0; i < particle_num_; i++) {
90 this->computeTransformedPointCloudWithNormal(
91 (*particles_)[i], *
indices_list[i], *transed_reference_vector_[i]);
98 coherence_->initCompute();
100#pragma omp parallel for \
102 shared(indices_list) \
103 num_threads(threads_)
105 for (
int i = 0; i < particle_num_; i++) {
107 transed_reference_vector_[i],
indices_list[i], (*particles_)[i].weight);
void setNumberOfThreads(unsigned int nr_threads=0)
Initialize the scheduler and set the number of threads to use.
void weight() override
weighting phase of particle filter method.
typename Tracker< PointInT, StateT >::PointCloudIn PointCloudIn
typename PointCloudIn::Ptr PointCloudInPtr