bool
pcl::octree::OctreePointCloudSearch<PointT, LeafT, OctreeT>::voxelSearch (const PointT& point,
std::vector<int>& pointIdx_data)
{
OctreeKey key;
bool b_success = false;
// generate key
this->genOctreeKeyforPoint (point, key);
LeafT* leaf = this->getLeaf (key);
if (leaf)
{
leaf->getData (pointIdx_data);
b_success = true;
}
return (b_success);
}
template<typename PointT, typename LeafT, typename BranchT> bool
pcl::octree::OctreePointCloudSearch<PointT, LeafT, BranchT>::voxelSearch (const PointT& point,
std::vector<int>& pointIdx_data)
{
assert (isFinite (point) && "Invalid (NaN, Inf) point coordinates given to nearestKSearch!");
OctreeKey key;
bool b_success = false;
// generate key
this->genOctreeKeyforPoint (point, key);
LeafT* leaf = this->findLeaf (key);
if (leaf)
{
leaf->getData (pointIdx_data);
b_success = true;
}
return (b_success);
}
bool
OctreeLowMemBase<DataT, LeafT>::get (const unsigned int idxX_arg, const unsigned int idxY_arg,
const unsigned int idxZ_arg, DataT& data_arg) const
{
OctreeKey key;
// generate key
genOctreeKeyByIntIdx (idxX_arg, idxY_arg, idxZ_arg, key);
// search for leaf at key
LeafT* leaf = findLeaf (key);
if (leaf)
{
const DataT * dataPtr;
// if successful, decode data to data_arg
leaf->getData (dataPtr);
if (dataPtr)
data_arg = *dataPtr;
}
// returns true on success
return (leaf != 0);
}
