Point Cloud Library (PCL)  1.7.0
/tmp/buildd/pcl-1.7-1.7.0/octree/include/pcl/octree/octree_pointcloud_singlepoint.h
00001 /*
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00038 
00039 #ifndef PCL_OCTREE_SINGLE_POINT_H
00040 #define PCL_OCTREE_SINGLE_POINT_H
00041 
00042 #include "octree_pointcloud.h"
00043 
00044 namespace pcl
00045 {
00046   namespace octree
00047   {
00048     //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
00049     /** \brief @b Octree pointcloud single point class
00050      *  \note This pointcloud octree class generate an octrees from a point cloud (zero-copy). Every leaf node contains a single point index from the dataset given by \a setInputCloud.
00051      *  \note The octree pointcloud is initialized with its voxel resolution. Its bounding box is automatically adjusted or can be predefined.
00052      *  \note
00053      *  \note typename: PointT: type of point used in pointcloud
00054      *  \ingroup octree
00055      *  \author Julius Kammerl (julius@kammerl.de)
00056      */
00057     //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
00058     template<typename PointT, typename LeafContainerT = OctreeContainerPointIndex,
00059         typename BranchContainerT = OctreeContainerEmpty,
00060         typename OctreeT = OctreeBase<LeafContainerT, BranchContainerT> >
00061 
00062     class OctreePointCloudSinglePoint : public OctreePointCloud<PointT, LeafContainerT,
00063         BranchContainerT, OctreeT>
00064     {
00065 
00066       public:
00067         // public typedefs for single/double buffering
00068         typedef OctreePointCloudSinglePoint<PointT, LeafContainerT, BranchContainerT,
00069             OctreeBase<LeafContainerT, BranchContainerT> > SingleBuffer;
00070   //      typedef OctreePointCloudSinglePoint<PointT, LeafContainerT, BranchContainerT,
00071    //         Octree2BufBase<int, LeafContainerT, BranchContainerT> > DoubleBuffer;
00072 
00073         /** \brief Constructor.
00074          *  \param resolution_arg: octree resolution at lowest octree level
00075          * */
00076         OctreePointCloudSinglePoint (const double resolution_arg) :
00077             OctreePointCloud<PointT, LeafContainerT, BranchContainerT, OctreeT> (resolution_arg)
00078         {
00079         }
00080 
00081         /** \brief Empty class constructor. */
00082         virtual ~OctreePointCloudSinglePoint ()
00083         {
00084         }
00085 
00086     };
00087 
00088   }
00089 }
00090 
00091 #define PCL_INSTANTIATE_OctreePointCloudSinglePoint(T) template class PCL_EXPORTS pcl::octree::OctreePointCloudSinglePoint<T>;
00092 
00093 #endif