Point Cloud Library (PCL)  1.3.1
octree_pointcloud_changedetector.h
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00001 /*
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00036  * $Id: octree_pointcloud_changedetector.h 3017 2011-11-01 03:24:04Z rusu $
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00038 
00039 #ifndef OCTREE_CHANGEDETECTOR_H
00040 #define OCTREE_CHANGEDETECTOR_H
00041 
00042 #include "octree_pointcloud.h"
00043 
00044 #include "octree_base.h"
00045 #include "octree2buf_base.h"
00046 
00047 namespace pcl
00048 {
00049   namespace octree
00050   {
00051 
00053 
00061 
00062     template<typename PointT, typename LeafT = OctreeLeafDataTVector<int> >
00063 
00064       class OctreePointCloudChangeDetector : public OctreePointCloud<PointT, LeafT, Octree2BufBase<int, LeafT> >
00065 
00066       {
00067 
00068       public:
00069 
00073         OctreePointCloudChangeDetector (const double resolution_arg) :
00074           OctreePointCloud<PointT, LeafT, Octree2BufBase<int, LeafT> > (resolution_arg)
00075         {
00076         }
00077 
00079         virtual
00080         ~OctreePointCloudChangeDetector ()
00081         {
00082         }
00083 
00089         int
00090         getPointIndicesFromNewVoxels ( std::vector<int> &indicesVector_arg, const int minPointsPerLeaf_arg = 0 )
00091         {
00092           this->serializeNewLeafs (indicesVector_arg, minPointsPerLeaf_arg);
00093 
00094           return (int) indicesVector_arg.size();
00095         }
00096 
00097 
00098       };
00099   }
00100 
00101 }
00102 
00103 #define PCL_INSTANTIATE_OctreePointCloudChangeDetector(T) template class PCL_EXPORTS pcl::octree::OctreePointCloudChangeDetector<T>;
00104 
00105 #endif
00106 
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