Skip to content

Commit f88b649

Browse files
shrijitsingh99shrijitsingh99
committed
Migrate tests for OMP versions of normal estimation
1 parent b110050 commit f88b649

File tree

11 files changed

+18
-22
lines changed

11 files changed

+18
-22
lines changed

‎apps/src/openni_feature_persistence.cpp

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -39,7 +39,7 @@
3939
#include <pcl/console/parse.h>
4040
#include <pcl/features/fpfh_omp.h>
4141
#include <pcl/features/multiscale_feature_persistence.h>
42-
#include <pcl/features/normal_3d_omp.h>
42+
#include <pcl/features/normal_3d.h>
4343
#include <pcl/filters/extract_indices.h>
4444
#include <pcl/filters/voxel_grid.h>
4545
#include <pcl/io/openni_camera/openni_driver.h>
@@ -208,7 +208,7 @@ class OpenNIFeaturePersistence {
208208
}
209209

210210
pcl::VoxelGrid<PointType> subsampling_filter_;
211-
pcl::NormalEstimationOMP<PointType, pcl::Normal> normal_estimation_filter_;
211+
pcl::NormalEstimation<PointType, pcl::Normal> normal_estimation_filter_;
212212
typename pcl::FPFHEstimationOMP<PointType, pcl::Normal, pcl::FPFHSignature33>::Ptr
213213
fpfh_estimation_;
214214
pcl::MultiscaleFeaturePersistence<PointType, pcl::FPFHSignature33>

‎apps/src/openni_tracking.cpp

Lines changed: 1 addition & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -41,7 +41,6 @@
4141
#include <pcl/console/parse.h>
4242
#include <pcl/features/integral_image_normal.h>
4343
#include <pcl/features/normal_3d.h>
44-
#include <pcl/features/normal_3d_omp.h>
4544
#include <pcl/filters/approximate_voxel_grid.h>
4645
#include <pcl/filters/extract_indices.h>
4746
#include <pcl/filters/passthrough.h>
@@ -635,7 +634,7 @@ class OpenNISegmentTracking {
635634
std::string device_id_;
636635
std::mutex mtx_;
637636
bool new_cloud_;
638-
pcl::NormalEstimationOMP<PointType, pcl::Normal> ne_; // to store threadpool
637+
pcl::NormalEstimation<PointType, pcl::Normal> ne_; // to store threadpool
639638
ParticleFilter::Ptr tracker_;
640639
int counter_;
641640
bool use_convex_hull_;

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

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -3,7 +3,7 @@
33
#include <pcl/point_cloud.h>
44
#include <pcl/common/time.h>
55
#include <pcl/console/print.h>
6-
#include <pcl/features/normal_3d_omp.h>
6+
#include <pcl/features/normal_3d.h>
77
#include <pcl/features/fpfh_omp.h>
88
#include <pcl/filters/filter.h>
99
#include <pcl/filters/voxel_grid.h>
@@ -60,7 +60,7 @@ main (int argc, char **argv)
6060

6161
// Estimate normals for scene
6262
pcl::console::print_highlight ("Estimating scene normals...\n");
63-
pcl::NormalEstimationOMP<PointNT,PointNT> nest;
63+
pcl::NormalEstimation<PointNT,PointNT> nest;
6464
nest.setRadiusSearch (0.01);
6565
nest.setInputCloud (scene);
6666
nest.compute (*scene);

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

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -1,7 +1,7 @@
11
#include <pcl/io/pcd_io.h>
22
#include <pcl/point_cloud.h>
33
#include <pcl/correspondence.h>
4-
#include <pcl/features/normal_3d_omp.h>
4+
#include <pcl/features/normal_3d.h>
55
#include <pcl/features/shot_omp.h>
66
#include <pcl/features/board.h>
77
#include <pcl/filters/uniform_sampling.h>
@@ -210,7 +210,7 @@ main (int argc, char *argv[])
210210
//
211211
// Compute Normals
212212
//
213-
pcl::NormalEstimationOMP<PointType, NormalType> norm_est;
213+
pcl::NormalEstimation<PointType, NormalType> norm_est;
214214
norm_est.setKSearch (10);
215215
norm_est.setInputCloud (model);
216216
norm_est.compute (*model_normals);

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

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -11,7 +11,7 @@
1111
#include <pcl/io/pcd_io.h>
1212
#include <pcl/search/organized.h>
1313
#include <pcl/search/kdtree.h>
14-
#include <pcl/features/normal_3d_omp.h>
14+
#include <pcl/features/normal_3d.h>
1515
#include <pcl/filters/conditional_removal.h>
1616
#include <pcl/segmentation/extract_clusters.h>
1717

@@ -76,7 +76,7 @@ main (int argc, char *argv[])
7676
}
7777

7878
// Compute normals using both small and large scales at each point
79-
pcl::NormalEstimationOMP<PointXYZRGB, PointNormal> ne;
79+
pcl::NormalEstimation<PointXYZRGB, PointNormal> ne;
8080
ne.setInputCloud (cloud);
8181
ne.setSearchMethod (tree);
8282

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

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -38,7 +38,7 @@
3838
#include <pcl/io/pcd_io.h>
3939
#include <pcl/point_cloud.h>
4040
#include <pcl/correspondence.h>
41-
#include <pcl/features/normal_3d_omp.h>
41+
#include <pcl/features/normal_3d.h>
4242
#include <pcl/features/shot_omp.h>
4343
#include <pcl/features/board.h>
4444
#include <pcl/filters/uniform_sampling.h>
@@ -247,7 +247,7 @@ main (int argc,
247247
/**
248248
* Compute Normals
249249
*/
250-
pcl::NormalEstimationOMP<PointType, NormalType> norm_est;
250+
pcl::NormalEstimation<PointType, NormalType> norm_est;
251251
norm_est.setKSearch (10);
252252
norm_est.setInputCloud (model);
253253
norm_est.compute (*model_normals);

‎examples/features/example_difference_of_normals.cpp

Lines changed: 3 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -9,15 +9,15 @@
99
#include <string>
1010

1111
#include <pcl/io/pcd_io.h>
12-
#include <pcl/features/normal_3d_omp.h>
12+
#include <pcl/features/normal_3d.h>
1313
#include <pcl/filters/conditional_removal.h>
1414
#include <pcl/segmentation/extract_clusters.h>
1515
#include <pcl/filters/voxel_grid.h>
1616

1717
#include <pcl/features/don.h>
1818

1919
#ifdef PCL_ONLY_CORE_POINT_TYPES
20-
#include <pcl/features/impl/normal_3d_omp.hpp>
20+
#include <pcl/features/impl/normal_3d.hpp>
2121
#include <pcl/segmentation/impl/extract_clusters.hpp>
2222
#endif
2323

@@ -106,7 +106,7 @@ int main (int argc, char *argv[])
106106
}
107107

108108
// Compute normals using both small and large scales at each point
109-
pcl::NormalEstimationOMP<PointT, PointNT> ne;
109+
pcl::NormalEstimation<PointT, PointNT> ne;
110110
ne.setInputCloud (cloud);
111111
ne.setSearchMethod (tree);
112112

‎test/features/test_board_estimation.cpp

Lines changed: 0 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -40,7 +40,6 @@
4040
#include <pcl/test/gtest.h>
4141
#include <pcl/point_cloud.h>
4242
#include <pcl/pcl_tests.h>
43-
#include <pcl/features/normal_3d_omp.h>
4443
#include <pcl/io/pcd_io.h>
4544
#include <pcl/features/board.h>
4645

‎test/features/test_normal_estimation.cpp

Lines changed: 2 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -41,7 +41,6 @@
4141
#include <pcl/point_cloud.h>
4242
#include <pcl/common/utils.h> // pcl::utils::ignore
4343
#include <pcl/features/normal_3d.h>
44-
#include <pcl/features/normal_3d_omp.h>
4544
#include <pcl/features/integral_image_normal.h>
4645
#include <pcl/io/pcd_io.h>
4746

@@ -215,7 +214,7 @@ class DummySearch : public pcl::search::Search<PointT>
215214

216215
TEST (PCL, NormalEstimationOpenMPInitVectors)
217216
{
218-
NormalEstimationOMP<PointXYZ, Normal> n (4); // instantiate 4 threads
217+
NormalEstimation<PointXYZ, Normal> n (4); // instantiate 4 threads
219218

220219
DummySearch<PointXYZ>::Ptr dummy (new DummySearch<PointXYZ>);
221220

@@ -242,7 +241,7 @@ TEST (PCL, NormalEstimationOpenMPInitVectors)
242241
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
243242
TEST (PCL, NormalEstimationOpenMP)
244243
{
245-
NormalEstimationOMP<PointXYZ, Normal> n (4); // instantiate 4 threads
244+
NormalEstimation<PointXYZ, Normal> n (4); // instantiate 4 threads
246245

247246
// Object
248247
PointCloud<Normal>::Ptr normals (new PointCloud<Normal> ());

‎test/features/test_shot_estimation.cpp

Lines changed: 0 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -39,7 +39,6 @@
3939

4040
#include <pcl/test/gtest.h>
4141
#include <pcl/point_cloud.h>
42-
#include <pcl/features/normal_3d_omp.h>
4342
#include <pcl/io/pcd_io.h>
4443
#include <pcl/features/shot.h>
4544
#include <pcl/features/shot_omp.h>

0 commit comments

Comments
 (0)