Program Listing for File normal_3d_tbb.hpp
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* $Id: normal_3d_tbb.h 35661 2011-02-01 06:04:14Z rusu $
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#ifndef PCL_ROS__FEATURES__NORMAL_3D_TBB_HPP_
#define PCL_ROS__FEATURES__NORMAL_3D_TBB_HPP_
// #include "pcl_ros/pcl_ros_config.hpp"
// #if defined(HAVE_TBB)
#include <pcl/features/normal_3d_tbb.h>
#include "pcl_ros/features/normal_3d.hpp"
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
};
} // namespace pcl_ros
// #endif // HAVE_TBB
#endif // PCL_ROS__FEATURES__NORMAL_3D_TBB_HPP_