normal_estimation_omp.h

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// -*- mode: c++ -*-
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#ifndef JSK_PCL_ROS_NORMAL_ESTIMATION_OMP_H_
#define JSK_PCL_ROS_NORMAL_ESTIMATION_OMP_H_

#include <jsk_topic_tools/diagnostic_nodelet.h>
#include <sensor_msgs/PointCloud2.h>
#include <pcl_ros/FeatureConfig.h>
#include <dynamic_reconfigure/server.h>
#include <pcl_conversions/pcl_conversions.h>
#include <jsk_recognition_utils/time_util.h>
#include <std_msgs/Float32.h>

namespace jsk_pcl_ros
{
  class NormalEstimationOMP: public jsk_topic_tools::DiagnosticNodelet
  {
  public:
    typedef boost::shared_ptr<NormalEstimationOMP> Ptr;
    typedef pcl_ros::FeatureConfig Config;
    NormalEstimationOMP(): DiagnosticNodelet("NormalEstimationOMP"), timer_(10) {}
    
  protected:

    virtual void onInit();
    virtual void subscribe();
    virtual void unsubscribe();
    virtual void estimate(
      const sensor_msgs::PointCloud2::ConstPtr& cloud_msg);
    virtual void configCallback(
      Config& config, uint32_t level);
    
    boost::mutex mutex_;
    ros::Publisher pub_;
    ros::Publisher pub_with_xyz_;
    ros::Publisher pub_latest_time_;
    ros::Publisher pub_average_time_;
    jsk_recognition_utils::WallDurationTimer timer_;
    ros::Subscriber sub_;
    std::string sensor_frame_;
    boost::shared_ptr <dynamic_reconfigure::Server<Config> > srv_;
    int k_;
    double search_radius_;
    int num_of_threads_;
    
  private:
    
  };
}

#endif