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 *  Point Cloud Library (PCL) - www.pointclouds.org
 *  Copyright (c) 2010-2011, Willow Garage, Inc.
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 * $Id$
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#pragma once

#include <pcl/octree/octree_pointcloud.h>

namespace pcl {
namespace octree {
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
/** \brief @b Octree pointcloud single point class
 *  \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.
 * \note The octree pointcloud is initialized with its voxel resolution. Its bounding
 * box is automatically adjusted or can be predefined.
 *  \tparam PointT type of point used in pointcloud
 *  \ingroup octree
 *  \author Julius Kammerl (julius@kammerl.de)
 */
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
template <typename PointT,
          typename LeafContainerT = OctreeContainerPointIndex,
          typename BranchContainerT = OctreeContainerEmpty,
          typename OctreeT = OctreeBase<LeafContainerT, BranchContainerT>>

class OctreePointCloudSinglePoint
: public OctreePointCloud<PointT, LeafContainerT, BranchContainerT, OctreeT> {

public:
  // public typedefs for single/double buffering
  using SingleBuffer =
      OctreePointCloudSinglePoint<PointT,
                                  LeafContainerT,
                                  BranchContainerT,
                                  OctreeBase<LeafContainerT, BranchContainerT>>;
  //      typedef OctreePointCloudSinglePoint<PointT, LeafContainerT, BranchContainerT,
  //         Octree2BufBase<int, LeafContainerT, BranchContainerT> > DoubleBuffer;

  /** \brief Constructor.
   *  \param resolution_arg: octree resolution at lowest octree level
   * */
  OctreePointCloudSinglePoint(const double resolution_arg)
  : OctreePointCloud<PointT, LeafContainerT, BranchContainerT, OctreeT>(resolution_arg)
  {}

  /** \brief Empty class constructor. */
  ~OctreePointCloudSinglePoint() {}
};

} // namespace octree
} // namespace pcl

#define PCL_INSTANTIATE_OctreePointCloudSinglePoint(T)                                 \
  template class PCL_EXPORTS pcl::octree::OctreePointCloudSinglePoint<T>;
