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 * $Id: normal_3d_omp.hpp 2617 2011-09-30 21:37:23Z rusu $
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#ifndef PCL_FEATURES_IMPL_NORMAL_3D_OMP_H_
#define PCL_FEATURES_IMPL_NORMAL_3D_OMP_H_

#include "pcl/features/normal_3d_omp.h"

//////////////////////////////////////////////////////////////////////////////////////////////
template <typename PointInT, typename PointOutT> void
pcl::NormalEstimationOMP<PointInT, PointOutT>::computeFeature (PointCloudOut &output)
{
  float vpx, vpy, vpz;
  getViewPoint (vpx, vpy, vpz);
  // Iterating over the entire index vector
#pragma omp parallel for schedule (dynamic, threads_)
  for (int idx = 0; idx < (int)indices_->size (); ++idx)
  {
    // Allocate enough space to hold the results
    // \note This resize is irrelevant for a radiusSearch ().
    std::vector<int> nn_indices (k_);
    std::vector<float> nn_dists (k_);

    this->searchForNeighbors ((*indices_)[idx], search_parameter_, nn_indices, nn_dists);

    // 16-bytes aligned placeholder for the XYZ centroid of a surface patch
    Eigen::Vector4f xyz_centroid;
    // Estimate the XYZ centroid
    compute3DCentroid (*surface_, nn_indices, xyz_centroid);

    // Placeholder for the 3x3 covariance matrix at each surface patch
    EIGEN_ALIGN16 Eigen::Matrix3f covariance_matrix;
    // Compute the 3x3 covariance matrix
    computeCovarianceMatrix (*surface_, nn_indices, xyz_centroid, covariance_matrix);

    // Get the plane normal and surface curvature
    solvePlaneParameters (covariance_matrix,
                          output.points[idx].normal[0], output.points[idx].normal[1], output.points[idx].normal[2], output.points[idx].curvature);

    flipNormalTowardsViewpoint (input_->points[(*indices_)[idx]], vpx, vpy, vpz,
                                output.points[idx].normal[0], output.points[idx].normal[1], output.points[idx].normal[2]);
  }
}

#define PCL_INSTANTIATE_NormalEstimationOMP(T,NT) template class PCL_EXPORTS pcl::NormalEstimationOMP<T,NT>;

#endif    // PCL_FEATURES_IMPL_NORMAL_3D_OMP_H_

