octree_pointcloud_changedetector.h

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 * $Id: octree_pointcloud_changedetector.h 6119 2012-07-03 18:50:04Z aichim $
 */

#ifndef OCTREE_CHANGEDETECTOR_H
#define OCTREE_CHANGEDETECTOR_H

#include "octree_pointcloud.h"

#include "octree_base.h"
#include "octree2buf_base.h"

namespace pcl
{
  namespace octree
  {


    template<typename PointT, typename LeafT = OctreeContainerDataTVector<int>,
        typename BranchT = OctreeContainerEmpty<int> >

    class OctreePointCloudChangeDetector : public OctreePointCloud<PointT,
        LeafT, BranchT, Octree2BufBase<int, LeafT, BranchT> >

    {

      public:

        OctreePointCloudChangeDetector (const double resolution_arg) :
            OctreePointCloud<PointT, LeafT, BranchT,
                Octree2BufBase<int, LeafT, BranchT> > (resolution_arg)
        {
        }

        virtual ~OctreePointCloudChangeDetector ()
        {
        }

        int getPointIndicesFromNewVoxels (std::vector<int> &indicesVector_arg,
            const int minPointsPerLeaf_arg = 0)
        {
          this->serializeNewLeafs (indicesVector_arg, minPointsPerLeaf_arg);
          return (static_cast<int> (indicesVector_arg.size ()));
        }
    };
  }
}

#define PCL_INSTANTIATE_OctreePointCloudChangeDetector(T) template class PCL_EXPORTS pcl::octree::OctreePointCloudChangeDetector<T>;

#endif