pcl_ros: normal_3d_omp.h Source File

00001 /*
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00034  * $Id: normal_3d_omp.h 35361 2011-01-20 04:34:49Z rusu $
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00037 
00038 #ifndef PCL_ROS_NORMAL_3D_OMP_H_
00039 #define PCL_ROS_NORMAL_3D_OMP_H_
00040 
00041 #include <pcl/features/normal_3d_omp.h>
00042 #include "pcl_ros/features/normal_3d.h"
00043 
00044 namespace pcl_ros
00045 {
00050   class NormalEstimationOMP: public Feature
00051   {
00052     private:
00053       pcl::NormalEstimationOMP<pcl::PointXYZ, pcl::Normal> impl_;
00054 
00055       typedef pcl::PointCloud<pcl::Normal> PointCloudOut;
00056 
00058       inline bool 
00059       childInit (ros::NodeHandle &nh)
00060       {
00061         // Create the output publisher
00062         pub_output_ = nh.advertise<PointCloudOut> ("output", max_queue_size_);
00063         return (true);
00064       }
00065 
00067       void emptyPublish (const PointCloudInConstPtr &cloud);
00068 
00070       void computePublish (const PointCloudInConstPtr &cloud,
00071                            const PointCloudInConstPtr &surface,
00072                            const IndicesConstPtr &indices);
00073 
00074     public:
00075       EIGEN_MAKE_ALIGNED_OPERATOR_NEW
00076   };
00077 }
00078 
00079 #endif  //#ifndef PCL_ROS_NORMAL_3D_OMP_H_