normal_3d_tbb.h
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37 
38 #ifndef PCL_ROS_NORMAL_3D_TBB_H_
39 #define PCL_ROS_NORMAL_3D_TBB_H_
40 
41 //#include "pcl_ros/pcl_ros_config.h"
42 //#if defined(HAVE_TBB)
43 
44 #include <pcl/features/normal_3d_tbb.h>
46 
47 namespace pcl_ros
48 {
54  {
55  private:
56  pcl::NormalEstimationTBB<pcl::PointXYZ, pcl::Normal> impl_;
57 
58  typedef pcl::PointCloud<pcl::Normal> PointCloudOut;
59 
61  inline bool
63  {
64  // Create the output publisher
65  pub_output_ = advertise<PointCloud> (nh, "output", max_queue_size_);
66  return (true);
67  }
68 
70  void emptyPublish (const PointCloudInConstPtr &cloud);
71 
73  void computePublish (const PointCloudInConstPtr &cloud,
74  const PointCloudInConstPtr &surface,
75  const IndicesPtr &indices);
76 
77  public:
78  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
79  };
80 }
81 
82 //#endif // HAVE_TBB
83 
84 #endif //#ifndef PCL_ROS_NORMAL_3D_TBB_H_
85 
86 
void computePublish(const PointCloudInConstPtr &cloud, const PointCloudInConstPtr &surface, const IndicesPtr &indices)
Compute the feature and publish it.
pcl::PointCloud< pcl::Normal > PointCloudOut
Definition: normal_3d_tbb.h:58
NormalEstimationTBB estimates local surface properties at each 3D point, such as surface normals and ...
Definition: normal_3d_tbb.h:53
int max_queue_size_
The maximum queue size (default: 3).
Definition: pcl_nodelet.h:127
ros::Publisher pub_output_
The output PointCloud publisher.
Definition: pcl_nodelet.h:124
PointCloudIn::ConstPtr PointCloudInConstPtr
Definition: feature.h:74
bool childInit(ros::NodeHandle &nh)
Child initialization routine. Internal method.
Definition: normal_3d_tbb.h:62
pcl::NormalEstimationTBB< pcl::PointXYZ, pcl::Normal > impl_
Definition: normal_3d_tbb.h:56
Feature represents the base feature class. Some generic 3D operations that are applicable to all feat...
Definition: feature.h:66
void emptyPublish(const PointCloudInConstPtr &cloud)
Publish an empty point cloud of the feature output type.


pcl_ros
Author(s): Open Perception, Julius Kammerl , William Woodall
autogenerated on Wed Jun 5 2019 19:52:52