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#ifndef PCL_OCTREE_SINGLE_POINT_H
#define PCL_OCTREE_SINGLE_POINT_H

#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.
     *  \note
     *  \note typename: 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
        typedef OctreePointCloudSinglePoint<PointT, LeafContainerT, BranchContainerT,
            OctreeBase<LeafContainerT, BranchContainerT> > SingleBuffer;
  //      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. */
        virtual ~OctreePointCloudSinglePoint ()
        {
        }

    };

  }
}

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

#endif
