octree_pointcloud_changedetector.h
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00001 /*
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00036  * $Id: octree_pointcloud_changedetector.h 6119 2012-07-03 18:50:04Z aichim $
00037  */
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 = OctreeContainerDataTVector<int>,
00063         typename BranchT = OctreeContainerEmpty<int> >
00064 
00065     class OctreePointCloudChangeDetector : public OctreePointCloud<PointT,
00066         LeafT, BranchT, Octree2BufBase<int, LeafT, BranchT> >
00067 
00068     {
00069 
00070       public:
00071 
00075         OctreePointCloudChangeDetector (const double resolution_arg) :
00076             OctreePointCloud<PointT, LeafT, BranchT,
00077                 Octree2BufBase<int, LeafT, BranchT> > (resolution_arg)
00078         {
00079         }
00080 
00082         virtual ~OctreePointCloudChangeDetector ()
00083         {
00084         }
00085 
00091         int getPointIndicesFromNewVoxels (std::vector<int> &indicesVector_arg,
00092             const int minPointsPerLeaf_arg = 0)
00093         {
00094           this->serializeNewLeafs (indicesVector_arg, minPointsPerLeaf_arg);
00095           return (static_cast<int> (indicesVector_arg.size ()));
00096         }
00097     };
00098   }
00099 }
00100 
00101 #define PCL_INSTANTIATE_OctreePointCloudChangeDetector(T) template class PCL_EXPORTS pcl::octree::OctreePointCloudChangeDetector<T>;
00102 
00103 #endif
00104 


pcl
Author(s): Open Perception
autogenerated on Mon Oct 6 2014 03:15:57