int
pcl::octree::OctreePointCloudSearch<PointT, LeafT, OctreeT>::getIntersectedVoxelIndices (
Eigen::Vector3f origin, Eigen::Vector3f direction, std::vector<int> &k_indices) const
{
OctreeKey key;
key.x = key.y = key.z = 0;
k_indices.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 getIntersectedVoxelIndicesRecursive (minX, minY, minZ, maxX, maxY, maxZ, a, this->rootNode_, key,
k_indices);
return (0);
}
template<typename PointT, typename LeafContainerT, typename BranchContainerT> int
pcl::octree::OctreePointCloudSearch<PointT, LeafContainerT, BranchContainerT>::getIntersectedVoxelIndices (
Eigen::Vector3f origin, Eigen::Vector3f direction, std::vector<int> &k_indices,
int max_voxel_count) const
{
OctreeKey key;
key.x = key.y = key.z = 0;
k_indices.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 getIntersectedVoxelIndicesRecursive (min_x, min_y, min_z, max_x, max_y, max_z, a, this->root_node_, key,
k_indices, max_voxel_count);
return (0);
}
template<typename PointT, typename LeafT, typename BranchT> int
pcl::octree::OctreePointCloudSearch<PointT, LeafT, BranchT>::getIntersectedVoxelCenters (
Eigen::Vector3f origin, Eigen::Vector3f direction, AlignedPointTVector &voxelCenterList,
int maxVoxelCount) 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, maxVoxelCount);
return (0);
}