normal_3d_tbb.h
Go to the documentation of this file.
00001 /*
00002  * Software License Agreement (BSD License)
00003  *
00004  *  Copyright (c) 2009, Willow Garage, Inc.
00005  *  All rights reserved.
00006  *
00007  *  Redistribution and use in source and binary forms, with or without
00008  *  modification, are permitted provided that the following conditions
00009  *  are met:
00010  *
00011  *   * Redistributions of source code must retain the above copyright
00012  *     notice, this list of conditions and the following disclaimer.
00013  *   * Redistributions in binary form must reproduce the above
00014  *     copyright notice, this list of conditions and the following
00015  *     disclaimer in the documentation and/or other materials provided
00016  *     with the distribution.
00017  *   * Neither the name of Willow Garage, Inc. nor the names of its
00018  *     contributors may be used to endorse or promote products derived
00019  *     from this software without specific prior written permission.
00020  *
00021  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00022  *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00023  *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00024  *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00025  *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00026  *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00027  *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00028  *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00029  *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00030  *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00031  *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00032  *  POSSIBILITY OF SUCH DAMAGE.
00033  *
00034  * $Id: normal_3d_tbb.h 35661 2011-02-01 06:04:14Z rusu $
00035  *
00036  */
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 IndicesPtr &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 


pcl_ros
Author(s): Open Perception, Julius Kammerl , William Woodall
autogenerated on Wed Aug 26 2015 15:25:31