normal_3d_tbb.h

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 * $Id: normal_3d_tbb.h 35661 2011-02-01 06:04:14Z rusu $
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#ifndef PCL_ROS_NORMAL_3D_TBB_H_
#define PCL_ROS_NORMAL_3D_TBB_H_

//#include "pcl_ros/pcl_ros_config.h"
//#if defined(HAVE_TBB)

#include <pcl/features/normal_3d_tbb.h>
#include "pcl_ros/features/normal_3d.h"

namespace pcl_ros
{
  class NormalEstimationTBB: public Feature
  {
    private:
      pcl::NormalEstimationTBB<pcl::PointXYZ, pcl::Normal> impl_;

      typedef pcl::PointCloud<pcl::Normal> PointCloudOut;

      inline bool 
      childInit (ros::NodeHandle &nh)
      {
        // Create the output publisher
        pub_output_ = advertise<PointCloud> (nh, "output", max_queue_size_);
        return (true);
      }

      void emptyPublish (const PointCloudInConstPtr &cloud);

      void computePublish (const PointCloudInConstPtr &cloud,
                           const PointCloudInConstPtr &surface,
                           const IndicesPtr &indices);

    public:
      EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  };
}

//#endif  // HAVE_TBB

#endif  //#ifndef PCL_ROS_NORMAL_3D_TBB_H_