48 #include "orr_octree.h"
49 #include <pcl/pcl_exports.h>
71 z1 ()
const {
return z1_;}
74 z2 ()
const {
return z2_;}
89 : nodes_ (compare_nodes_z), x_ (x), y_ (y)
102 get_nodes (){
return nodes_;}
123 build (
const ORROctree& input,
float eps_front,
float eps_back);
131 x =
static_cast<int> ((p[0] - bounds_[0])*inv_pixel_size_);
132 y =
static_cast<int> ((p[1] - bounds_[2])*inv_pixel_size_);
138 int x, y; this->getPixelCoordinates (p, x, y);
140 if ( x < 0 || x >= num_pixels_x_ )
return (
nullptr);
141 if ( y < 0 || y >= num_pixels_y_ )
return (
nullptr);
143 return (pixels_[x][y]);
149 int x, y; this->getPixelCoordinates (p, x, y);
151 if ( x < 0 || x >= num_pixels_x_ )
return (
nullptr);
152 if ( y < 0 || y >= num_pixels_y_ )
return (
nullptr);
154 return (pixels_[x][y]);
158 getOctreeNodes (
const float* p)
const
160 int x, y; this->getPixelCoordinates (p, x, y);
162 if ( x < 0 || x >= num_pixels_x_ )
return (
nullptr);
163 if ( y < 0 || y >= num_pixels_y_ )
return (
nullptr);
168 return (&sets_[x][y]->get_nodes ());
171 inline std::list<Pixel*>&
177 return pixels_[i][j];
196 num_x = num_pixels_x_;
197 num_y = num_pixels_y_;
201 float pixel_size_, inv_pixel_size_, bounds_[4], extent_x_, extent_y_;