text: /*
   * Software License Agreement (BSD License)
   *
   *  Point Cloud Library (PCL) - www.pointclouds.org
   *  Copyright (c) 2010-2011, Willow Garage, Inc.
   *
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   *     with the distribution.
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   * $Id$
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  #ifndef PCL_OCTREE_CHANGEDETECTOR_H
  #define PCL_OCTREE_CHANGEDETECTOR_H
  
  #include "octree_pointcloud.h"
  
  namespace pcl
  {
    namespace octree
    {
  
      //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
      /** \brief @b Octree pointcloud change detector class
       *  \note This pointcloud octree class generate an octrees from a point cloud (zero-copy). It allows to detect new leaf nodes and serialize their point indices
       *  \note The octree pointcloud is initialized with its voxel resolution. Its bounding box is automatically adjusted or can be predefined.
       *  \note
       *  \note typename: PointT: type of point used in pointcloud
       *  \ingroup octree
       *  \author Julius Kammerl (julius@kammerl.de)
       */
      //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
      template<typename PointT,
          typename LeafContainerT = OctreeContainerPointIndices,
          typename BranchContainerT = OctreeContainerEmpty >
  
      class OctreePointCloudChangeDetector : public OctreePointCloud<PointT,
          LeafContainerT, BranchContainerT, Octree2BufBase<LeafContainerT, BranchContainerT> >
  
      {
  
        public:
  
          /** \brief Constructor.
           *  \param resolution_arg:  octree resolution at lowest octree level
           * */
          OctreePointCloudChangeDetector (const double resolution_arg) :
              OctreePointCloud<PointT, LeafContainerT, BranchContainerT,
                  Octree2BufBase<LeafContainerT, BranchContainerT> > (resolution_arg)
          {
          }
  
          /** \brief Empty class constructor. */
          virtual ~OctreePointCloudChangeDetector ()
          {
          }
  
          /** \brief Get a indices from all leaf nodes that did not exist in previous buffer.
           * \param indicesVector_arg: results are written to this vector of int indices
           * \param minPointsPerLeaf_arg: minimum amount of points required within leaf node to become serialized.
           * \return number of point indices
           */
          std::size_t getPointIndicesFromNewVoxels (std::vector<int> &indicesVector_arg,
              const int minPointsPerLeaf_arg = 0)
          {
  
            std::vector<OctreeContainerPointIndices*> leaf_containers;
            this->serializeNewLeafs (leaf_containers);
  
            std::vector<OctreeContainerPointIndices*>::iterator it;
            std::vector<OctreeContainerPointIndices*>::const_iterator it_end = leaf_containers.end();
  
            for (it=leaf_containers.begin(); it!=it_end; ++it)
            {
              if (static_cast<int> ((*it)->getSize ()) >= minPointsPerLeaf_arg)
                (*it)->getPointIndices(indicesVector_arg);
            }
  
            return (indicesVector_arg.size ());
          }
      };
    }
  }
  
  #define PCL_INSTANTIATE_OctreePointCloudChangeDetector(T) template class PCL_EXPORTS pcl::octree::OctreePointCloudChangeDetector<T>;
  
  #endif
  
  