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#pragma once

#include <pcl/features/normal_3d.h>

namespace pcl
{
  /** \brief NormalEstimationOMP estimates local surface properties at each 3D point, such as surface normals and
    * curvatures, in parallel, using the OpenMP standard.
    * \author Radu Bogdan Rusu
    * \ingroup features
    */
  template <typename PointInT, typename PointOutT>
  class NormalEstimationOMP: public NormalEstimation<PointInT, PointOutT>
  {
    public:
      using Ptr = shared_ptr<NormalEstimationOMP<PointInT, PointOutT> >;
      using ConstPtr = shared_ptr<const NormalEstimationOMP<PointInT, PointOutT> >;
      using NormalEstimation<PointInT, PointOutT>::feature_name_;
      using NormalEstimation<PointInT, PointOutT>::getClassName;
      using NormalEstimation<PointInT, PointOutT>::indices_;
      using NormalEstimation<PointInT, PointOutT>::input_;
      using NormalEstimation<PointInT, PointOutT>::k_;
      using NormalEstimation<PointInT, PointOutT>::vpx_;
      using NormalEstimation<PointInT, PointOutT>::vpy_;
      using NormalEstimation<PointInT, PointOutT>::vpz_;
      using NormalEstimation<PointInT, PointOutT>::search_parameter_;
      using NormalEstimation<PointInT, PointOutT>::surface_;
      using NormalEstimation<PointInT, PointOutT>::getViewPoint;

      using PointCloudOut = typename NormalEstimation<PointInT, PointOutT>::PointCloudOut;

    public:
      /** \brief Initialize the scheduler and set the number of threads to use.
        * \param nr_threads the number of hardware threads to use (0 sets the value back to automatic)
        * \param chunk_size PCL will use dynamic scheduling with this chunk size. Setting it too low will lead to more parallelization overhead. Setting it too high will lead to a worse balancing between the threads.
        */
      NormalEstimationOMP (unsigned int nr_threads = 0, int chunk_size = 256): chunk_size_(chunk_size)
      {
        feature_name_ = "NormalEstimationOMP";

        setNumberOfThreads(nr_threads);
      }

      /** \brief Initialize the scheduler and set the number of threads to use.
        * \param nr_threads the number of hardware threads to use (0 sets the value back to automatic)
        */
      void
      setNumberOfThreads (unsigned int nr_threads = 0);

    protected:
      /** \brief The number of threads the scheduler should use. */
      unsigned int threads_;

      /** \brief Chunk size for (dynamic) scheduling. */
      int chunk_size_;
    private:
      /** \brief Estimate normals for all points given in <setInputCloud (), setIndices ()> using the surface in
        * setSearchSurface () and the spatial locator in setSearchMethod ()
        * \param output the resultant point cloud model dataset that contains surface normals and curvatures
        */
      void
      computeFeature (PointCloudOut &output) override;
  };
}

#ifdef PCL_NO_PRECOMPILE
#include <pcl/features/impl/normal_3d_omp.hpp>
#endif
