template<typename ContainerT, typename PointT> void
OutofcoreOctreeBase<ContainerT, PointT>::queryBBIncludes_subsample (const Eigen::Vector3d& min, const Eigen::Vector3d& max, const size_t query_depth, const double percent, AlignedPointTVector& dst) const
{
boost::shared_lock < boost::shared_mutex > lock (read_write_mutex_);
dst.clear ();
root_->queryBBIncludes_subsample (min, max, query_depth, percent, dst);
}
template<typename PointT, typename LeafT, typename BranchT, typename OctreeT> int
pcl::octree::OctreePointCloud<PointT, LeafT, BranchT, OctreeT>::getOccupiedVoxelCenters (
AlignedPointTVector &voxelCenterList_arg) const
{
OctreeKey key;
key.x = key.y = key.z = 0;
voxelCenterList_arg.clear ();
return getOccupiedVoxelCentersRecursive (this->rootNode_, key, voxelCenterList_arg);
}
int
pcl::octree::OctreePointCloudSearch<PointT, LeafT, OctreeT>::getIntersectedVoxelCenters (
Eigen::Vector3f origin, Eigen::Vector3f direction, AlignedPointTVector &voxelCenterList) const
{
OctreeKey key;
key.x = key.y = key.z = 0;
voxelCenterList.clear ();
// Voxel childIdx remapping
unsigned char a = 0;
double minX, minY, minZ, maxX, maxY, maxZ;
initIntersectedVoxel (origin, direction, minX, minY, minZ, maxX, maxY, maxZ, a);
if (max (max (minX, minY), minZ) < min (min (maxX, maxY), maxZ))
return getIntersectedVoxelCentersRecursive (minX, minY, minZ, maxX, maxY, maxZ, a, this->rootNode_, key,
voxelCenterList);
return (0);
}
template<typename PointT, typename LeafContainerT, typename BranchContainerT> int
pcl::octree::OctreePointCloudSearch<PointT, LeafContainerT, BranchContainerT>::getIntersectedVoxelCenters (
Eigen::Vector3f origin, Eigen::Vector3f direction, AlignedPointTVector &voxel_center_list,
int max_voxel_count) const
{
OctreeKey key;
key.x = key.y = key.z = 0;
voxel_center_list.clear ();
// Voxel child_idx remapping
unsigned char a = 0;
double min_x, min_y, min_z, max_x, max_y, max_z;
initIntersectedVoxel (origin, direction, min_x, min_y, min_z, max_x, max_y, max_z, a);
if (std::max (std::max (min_x, min_y), min_z) < std::min (std::min (max_x, max_y), max_z))
return getIntersectedVoxelCentersRecursive (min_x, min_y, min_z, max_x, max_y, max_z, a, this->root_node_, key,
voxel_center_list, max_voxel_count);
return (0);
}
