normal_estimation_omp.h
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00001 // -*- mode: c++ -*-
00002 /*********************************************************************
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00035 
00036 
00037 #ifndef JSK_PCL_ROS_NORMAL_ESTIMATION_OMP_H_
00038 #define JSK_PCL_ROS_NORMAL_ESTIMATION_OMP_H_
00039 
00040 #include <jsk_topic_tools/diagnostic_nodelet.h>
00041 #include <sensor_msgs/PointCloud2.h>
00042 #include <pcl_ros/FeatureConfig.h>
00043 #include <dynamic_reconfigure/server.h>
00044 #include <pcl_conversions/pcl_conversions.h>
00045 #include <jsk_recognition_utils/time_util.h>
00046 #include <std_msgs/Float32.h>
00047 
00048 namespace jsk_pcl_ros
00049 {
00050   class NormalEstimationOMP: public jsk_topic_tools::DiagnosticNodelet
00051   {
00052   public:
00053     typedef boost::shared_ptr<NormalEstimationOMP> Ptr;
00054     typedef pcl_ros::FeatureConfig Config;
00055     NormalEstimationOMP(): DiagnosticNodelet("NormalEstimationOMP"), timer_(10) {}
00056     
00057   protected:
00058 
00059     virtual void onInit();
00060     virtual void subscribe();
00061     virtual void unsubscribe();
00062     virtual void estimate(
00063       const sensor_msgs::PointCloud2::ConstPtr& cloud_msg);
00064     virtual void configCallback(
00065       Config& config, uint32_t level);
00066     
00067     boost::mutex mutex_;
00068     ros::Publisher pub_;
00069     ros::Publisher pub_with_xyz_;
00070     ros::Publisher pub_latest_time_;
00071     ros::Publisher pub_average_time_;
00072     jsk_recognition_utils::WallDurationTimer timer_;
00073     ros::Subscriber sub_;
00074     std::string sensor_frame_;
00075     boost::shared_ptr <dynamic_reconfigure::Server<Config> > srv_;
00076     int k_;
00077     double search_radius_;
00078     int num_of_threads_;
00079     
00080   private:
00081     
00082   };
00083 }
00084 
00085 #endif


jsk_pcl_ros
Author(s): Yohei Kakiuchi
autogenerated on Tue Jul 2 2019 19:41:43