00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Point Cloud Library (PCL) - www.pointclouds.org 00005 * Copyright (c) 2010-2011, Willow Garage, Inc. 00006 * 00007 * All rights reserved. 00008 * 00009 * Redistribution and use in source and binary forms, with or without 00010 * modification, are permitted provided that the following conditions 00011 * are met: 00012 * 00013 * * Redistributions of source code must retain the above copyright 00014 * notice, this list of conditions and the following disclaimer. 00015 * * Redistributions in binary form must reproduce the above 00016 * copyright notice, this list of conditions and the following 00017 * disclaimer in the documentation and/or other materials provided 00018 * with the distribution. 00019 * * Neither the name of Willow Garage, Inc. nor the names of its 00020 * contributors may be used to endorse or promote products derived 00021 * from this software without specific prior written permission. 00022 * 00023 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00024 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00025 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00026 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00027 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00028 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00029 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00030 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00031 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00032 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00033 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00034 * POSSIBILITY OF SUCH DAMAGE. 00035 * 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