Migrate tests for OMP versions of normal estimation

Author: shrijitsingh99

apps/src/openni_feature_persistence.cpp

@@ -39,7 +39,7 @@
 #include <pcl/console/parse.h>
 #include <pcl/features/fpfh_omp.h>
 #include <pcl/features/multiscale_feature_persistence.h>
-#include <pcl/features/normal_3d_omp.h>
+#include <pcl/features/normal_3d.h>
 #include <pcl/filters/extract_indices.h>
 #include <pcl/filters/voxel_grid.h>
 #include <pcl/io/openni_camera/openni_driver.h>
@@ -208,7 +208,7 @@ class OpenNIFeaturePersistence {
   }
 
   pcl::VoxelGrid<PointType> subsampling_filter_;
-  pcl::NormalEstimationOMP<PointType, pcl::Normal> normal_estimation_filter_;
+  pcl::NormalEstimation<PointType, pcl::Normal> normal_estimation_filter_;
   typename pcl::FPFHEstimationOMP<PointType, pcl::Normal, pcl::FPFHSignature33>::Ptr
       fpfh_estimation_;
   pcl::MultiscaleFeaturePersistence<PointType, pcl::FPFHSignature33>

apps/src/openni_tracking.cpp

@@ -41,7 +41,6 @@
 #include <pcl/console/parse.h>
 #include <pcl/features/integral_image_normal.h>
 #include <pcl/features/normal_3d.h>
-#include <pcl/features/normal_3d_omp.h>
 #include <pcl/filters/approximate_voxel_grid.h>
 #include <pcl/filters/extract_indices.h>
 #include <pcl/filters/passthrough.h>
@@ -635,7 +634,7 @@ class OpenNISegmentTracking {
   std::string device_id_;
   std::mutex mtx_;
   bool new_cloud_;
-  pcl::NormalEstimationOMP<PointType, pcl::Normal> ne_; // to store threadpool
+  pcl::NormalEstimation<PointType, pcl::Normal> ne_; // to store threadpool
   ParticleFilter::Ptr tracker_;
   int counter_;
   bool use_convex_hull_;

doc/tutorials/content/sources/alignment_prerejective/alignment_prerejective.cpp

@@ -3,7 +3,7 @@
 #include <pcl/point_cloud.h>
 #include <pcl/common/time.h>
 #include <pcl/console/print.h>
-#include <pcl/features/normal_3d_omp.h>
+#include <pcl/features/normal_3d.h>
 #include <pcl/features/fpfh_omp.h>
 #include <pcl/filters/filter.h>
 #include <pcl/filters/voxel_grid.h>
@@ -60,7 +60,7 @@ main (int argc, char **argv)
 
   // Estimate normals for scene
   pcl::console::print_highlight ("Estimating scene normals...\n");
-  pcl::NormalEstimationOMP<PointNT,PointNT> nest;
+  pcl::NormalEstimation<PointNT,PointNT> nest;
   nest.setRadiusSearch (0.01);
   nest.setInputCloud (scene);
   nest.compute (*scene);

doc/tutorials/content/sources/correspondence_grouping/correspondence_grouping.cpp

@@ -1,7 +1,7 @@
 #include <pcl/io/pcd_io.h>
 #include <pcl/point_cloud.h>
 #include <pcl/correspondence.h>
-#include <pcl/features/normal_3d_omp.h>
+#include <pcl/features/normal_3d.h>
 #include <pcl/features/shot_omp.h>
 #include <pcl/features/board.h>
 #include <pcl/filters/uniform_sampling.h>
@@ -210,7 +210,7 @@ main (int argc, char *argv[])
   //
   //  Compute Normals
   //
-  pcl::NormalEstimationOMP<PointType, NormalType> norm_est;
+  pcl::NormalEstimation<PointType, NormalType> norm_est;
   norm_est.setKSearch (10);
   norm_est.setInputCloud (model);
   norm_est.compute (*model_normals);

doc/tutorials/content/sources/don_segmentation/don_segmentation.cpp

@@ -11,7 +11,7 @@
 #include <pcl/io/pcd_io.h>
 #include <pcl/search/organized.h>
 #include <pcl/search/kdtree.h>
-#include <pcl/features/normal_3d_omp.h>
+#include <pcl/features/normal_3d.h>
 #include <pcl/filters/conditional_removal.h>
 #include <pcl/segmentation/extract_clusters.h>
 
@@ -76,7 +76,7 @@ main (int argc, char *argv[])
   }
 
   // Compute normals using both small and large scales at each point
-  pcl::NormalEstimationOMP<PointXYZRGB, PointNormal> ne;
+  pcl::NormalEstimation<PointXYZRGB, PointNormal> ne;
   ne.setInputCloud (cloud);
   ne.setSearchMethod (tree);
 

doc/tutorials/content/sources/global_hypothesis_verification/global_hypothesis_verification.cpp

@@ -38,7 +38,7 @@
 #include <pcl/io/pcd_io.h>
 #include <pcl/point_cloud.h>
 #include <pcl/correspondence.h>
-#include <pcl/features/normal_3d_omp.h>
+#include <pcl/features/normal_3d.h>
 #include <pcl/features/shot_omp.h>
 #include <pcl/features/board.h>
 #include <pcl/filters/uniform_sampling.h>
@@ -247,7 +247,7 @@ main (int argc,
   /**
    * Compute Normals
    */
-  pcl::NormalEstimationOMP<PointType, NormalType> norm_est;
+  pcl::NormalEstimation<PointType, NormalType> norm_est;
   norm_est.setKSearch (10);
   norm_est.setInputCloud (model);
   norm_est.compute (*model_normals);

examples/features/example_difference_of_normals.cpp

@@ -9,15 +9,15 @@
 #include <string>
 
 #include <pcl/io/pcd_io.h>
-#include <pcl/features/normal_3d_omp.h>
+#include <pcl/features/normal_3d.h>
 #include <pcl/filters/conditional_removal.h>
 #include <pcl/segmentation/extract_clusters.h>
 #include <pcl/filters/voxel_grid.h>
 
 #include <pcl/features/don.h>
 
 #ifdef PCL_ONLY_CORE_POINT_TYPES
-#include <pcl/features/impl/normal_3d_omp.hpp>
+#include <pcl/features/impl/normal_3d.hpp>
 #include <pcl/segmentation/impl/extract_clusters.hpp>
 #endif
 
@@ -106,7 +106,7 @@ int main (int argc, char *argv[])
   }
 
   // Compute normals using both small and large scales at each point
-  pcl::NormalEstimationOMP<PointT, PointNT> ne;
+  pcl::NormalEstimation<PointT, PointNT> ne;
   ne.setInputCloud (cloud);
         ne.setSearchMethod (tree);
 

test/features/test_board_estimation.cpp

@@ -40,8 +40,8 @@
 #include <pcl/test/gtest.h>
 #include <pcl/point_cloud.h>
 #include <pcl/pcl_tests.h>
-#include <pcl/features/normal_3d_omp.h>
 #include <pcl/io/pcd_io.h>
+#include <pcl/features/normal_3d.h>
 #include <pcl/features/board.h>
 
 using namespace pcl;

test/features/test_normal_estimation.cpp

@@ -41,7 +41,6 @@
 #include <pcl/point_cloud.h>
 #include <pcl/common/utils.h> // pcl::utils::ignore
 #include <pcl/features/normal_3d.h>
-#include <pcl/features/normal_3d_omp.h>
 #include <pcl/features/integral_image_normal.h>
 #include <pcl/io/pcd_io.h>
 
@@ -215,7 +214,7 @@ class DummySearch : public pcl::search::Search<PointT>
 
 TEST (PCL, NormalEstimationOpenMPInitVectors)
 {
-  NormalEstimationOMP<PointXYZ, Normal> n (4); // instantiate 4 threads
+  NormalEstimation<PointXYZ, Normal> n (4); // instantiate 4 threads
 
   DummySearch<PointXYZ>::Ptr dummy (new DummySearch<PointXYZ>);
 
@@ -242,7 +241,7 @@ TEST (PCL, NormalEstimationOpenMPInitVectors)
 //////////////////////////////////////////////////////////////////////////////////////////////////////////////////
 TEST (PCL, NormalEstimationOpenMP)
 {
-  NormalEstimationOMP<PointXYZ, Normal> n (4); // instantiate 4 threads
+  NormalEstimation<PointXYZ, Normal> n (4); // instantiate 4 threads
 
   // Object
   PointCloud<Normal>::Ptr normals (new PointCloud<Normal> ());

test/features/test_shot_estimation.cpp

@@ -39,8 +39,8 @@
 
 #include <pcl/test/gtest.h>
 #include <pcl/point_cloud.h>
-#include <pcl/features/normal_3d_omp.h>
 #include <pcl/io/pcd_io.h>
+#include <pcl/features/normal_3d.h>
 #include <pcl/features/shot.h>
 #include <pcl/features/shot_omp.h>
 #include "pcl/features/shot_lrf.h"