features/normal_3d_tbb.cpp

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/*
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 * $Id: normal_3d_tbb.cpp 35625 2011-01-31 07:56:13Z gbiggs $
 *
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#include <pluginlib/class_list_macros.h>
#include "pcl_ros/features/normal_3d_tbb.h"

#if defined HAVE_TBB

void 
pcl_ros::NormalEstimationTBB::emptyPublish (const PointCloudInConstPtr &cloud)
{
  PointCloud output;
  output.header = cloud->header;
  pub_output_.publish (output.makeShared ());
}

void 
pcl_ros::NormalEstimationTBB::computePublish (const PointCloudInConstPtr &cloud,
                                              const PointCloudInConstPtr &surface,
                                              const IndicesPtr &indices)
{
  // Set the parameters
  impl_.setKSearch (k_);
  impl_.setRadiusSearch (search_radius_);
  // Initialize the spatial locator
  initTree (spatial_locator_type_, tree_, k_);
  impl_.setSearchMethod (tree_);

  // Set the inputs
  impl_.setInputCloud (cloud);
  impl_.setIndices (indices);
  impl_.setSearchSurface (surface);
  // Estimate the feature
  PointCloudOut output;
  impl_.compute (output);

  // Publish a Boost shared ptr const data
  // Enforce that the TF frame and the timestamp are copied
  output.header = cloud->header;
  pub_output_.publish (output.makeShared ());
}

typedef pcl_ros::NormalEstimationTBB NormalEstimationTBB;
PLUGINLIB_EXPORT_CLASS(NormalEstimationTBB, nodelet::Nodelet)

#endif // HAVE_TBB