pcl_ros: normal_3d_tbb.h Source File

00001 /*
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00034  * $Id: normal_3d_tbb.h 35661 2011-02-01 06:04:14Z rusu $
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00037 
00038 #ifndef PCL_ROS_NORMAL_3D_TBB_H_
00039 #define PCL_ROS_NORMAL_3D_TBB_H_
00040 
00041 //#include "pcl_ros/pcl_ros_config.h"
00042 //#if defined(HAVE_TBB)
00043 
00044 #include <pcl/features/normal_3d_tbb.h>
00045 #include "pcl_ros/features/normal_3d.h"
00046 
00047 namespace pcl_ros
00048 {
00053   class NormalEstimationTBB: public Feature
00054   {
00055     private:
00056       pcl::NormalEstimationTBB<pcl::PointXYZ, pcl::Normal> impl_;
00057 
00058       typedef pcl::PointCloud<pcl::Normal> PointCloudOut;
00059 
00061       inline bool 
00062       childInit (ros::NodeHandle &nh)
00063       {
00064         // Create the output publisher
00065         pub_output_ = nh.advertise<PointCloud> ("output", max_queue_size_);
00066         return (true);
00067       }
00068 
00070       void emptyPublish (const PointCloudInConstPtr &cloud);
00071 
00073       void computePublish (const PointCloudInConstPtr &cloud,
00074                            const PointCloudInConstPtr &surface,
00075                            const IndicesConstPtr &indices);
00076 
00077     public:
00078       EIGEN_MAKE_ALIGNED_OPERATOR_NEW
00079   };
00080 }
00081 
00082 //#endif  // HAVE_TBB
00083 
00084 #endif  //#ifndef PCL_ROS_NORMAL_3D_TBB_H_
00085 
00086