/*
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2015, Ryohei Ueda, JSK Lab
 *  All rights reserved.
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 *     with the distribution.
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#ifndef PCL_ROS_SHOT_OMP_H_
#define PCL_ROS_SHOT_OMP_H_

#include <pcl/features/shot_omp.h>
#include "pcl_ros/features/shot.h"

namespace pcl_ros
{
  /** \brief @b SHOTEstimation estimates SHOT descriptor using OpenMP.
    */
  class SHOTEstimationOMP : public FeatureFromNormals
  {
    private:
      pcl::SHOTEstimationOMP<pcl::PointXYZ, pcl::Normal, pcl::SHOT352> impl_;

      typedef pcl::PointCloud<pcl::SHOT352> PointCloudOut;

      /** \brief Child initialization routine. Internal method. */
      inline bool 
      childInit (ros::NodeHandle &nh)
      {
        // Create the output publisher
        pub_output_ = nh.advertise<PointCloudOut> ("output", max_queue_size_);
        return (true);
      }

      /** \brief Publish an empty point cloud of the feature output type. */
      void emptyPublish (const PointCloudInConstPtr &cloud);

      /** \brief Compute the feature and publish it. */
      void computePublish (const PointCloudInConstPtr &cloud,
                           const PointCloudNConstPtr &normals,
                           const PointCloudInConstPtr &surface,
                           const IndicesPtr &indices);

    public:
      EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  };
}

#endif  //#ifndef PCL_ROS_SHOT_OMP_H_

