diff options
Diffstat (limited to 'octree/include/pcl/octree/impl/octree_pointcloud.hpp')
| -rw-r--r-- | octree/include/pcl/octree/impl/octree_pointcloud.hpp | 27 |
1 files changed, 13 insertions, 14 deletions
diff --git a/octree/include/pcl/octree/impl/octree_pointcloud.hpp b/octree/include/pcl/octree/impl/octree_pointcloud.hpp index eb5a4991..19bced45 100644 --- a/octree/include/pcl/octree/impl/octree_pointcloud.hpp +++ b/octree/include/pcl/octree/impl/octree_pointcloud.hpp @@ -79,17 +79,17 @@ pcl::octree::OctreePointCloud<PointT, LeafContainerT, BranchContainerT, OctreeT> { if (indices_) { for (const int& index : *indices_) { - assert((index >= 0) && (index < static_cast<int>(input_->points.size()))); + assert((index >= 0) && (index < static_cast<int>(input_->size()))); - if (isFinite(input_->points[index])) { + if (isFinite((*input_)[index])) { // add points to octree this->addPointIdx(index); } } } else { - for (std::size_t i = 0; i < input_->points.size(); i++) { - if (isFinite(input_->points[i])) { + for (std::size_t i = 0; i < input_->size(); i++) { + if (isFinite((*input_)[i])) { // add points to octree this->addPointIdx(static_cast<unsigned int>(i)); } @@ -124,7 +124,7 @@ pcl::octree::OctreePointCloud<PointT, LeafContainerT, BranchContainerT, OctreeT> cloud_arg->push_back(point_arg); - this->addPointIdx(static_cast<const int>(cloud_arg->points.size()) - 1); + this->addPointIdx(static_cast<const int>(cloud_arg->size()) - 1); } ////////////////////////////////////////////////////////////////////////////////////////////// @@ -143,8 +143,7 @@ pcl::octree::OctreePointCloud<PointT, LeafContainerT, BranchContainerT, OctreeT> cloud_arg->push_back(point_arg); - this->addPointFromCloud(static_cast<const int>(cloud_arg->points.size()) - 1, - indices_arg); + this->addPointFromCloud(static_cast<const int>(cloud_arg->size()) - 1, indices_arg); } ////////////////////////////////////////////////////////////////////////////////////////////// @@ -179,7 +178,7 @@ pcl::octree::OctreePointCloud<PointT, LeafContainerT, BranchContainerT, OctreeT> isVoxelOccupiedAtPoint(const int& point_idx_arg) const { // retrieve point from input cloud - const PointT& point = this->input_->points[point_idx_arg]; + const PointT& point = (*this->input_)[point_idx_arg]; // search for voxel at point in octree return (this->isVoxelOccupiedAtPoint(point)); @@ -237,7 +236,7 @@ pcl::octree::OctreePointCloud<PointT, LeafContainerT, BranchContainerT, OctreeT> deleteVoxelAtPoint(const int& point_idx_arg) { // retrieve point from input cloud - const PointT& point = this->input_->points[point_idx_arg]; + const PointT& point = (*this->input_)[point_idx_arg]; // delete leaf at point this->deleteVoxelAtPoint(point); @@ -631,7 +630,7 @@ pcl::octree::OctreePointCloud<PointT, LeafContainerT, BranchContainerT, OctreeT> for (const int& leafIndex : leafIndices) { - const PointT& point_from_index = input_->points[leafIndex]; + const PointT& point_from_index = (*input_)[leafIndex]; // generate key genOctreeKeyforPoint(point_from_index, new_index_key); @@ -656,9 +655,9 @@ pcl::octree::OctreePointCloud<PointT, LeafContainerT, BranchContainerT, OctreeT> { OctreeKey key; - assert(point_idx_arg < static_cast<int>(input_->points.size())); + assert(point_idx_arg < static_cast<int>(input_->size())); - const PointT& point = input_->points[point_idx_arg]; + const PointT& point = (*input_)[point_idx_arg]; // make sure bounding box is big enough adoptBoundingBoxToPoint(point); @@ -703,8 +702,8 @@ pcl::octree::OctreePointCloud<PointT, LeafContainerT, BranchContainerT, OctreeT> getPointByIndex(const unsigned int index_arg) const { // retrieve point from input cloud - assert(index_arg < static_cast<unsigned int>(input_->points.size())); - return (this->input_->points[index_arg]); + assert(index_arg < static_cast<unsigned int>(input_->size())); + return ((*this->input_)[index_arg]); } ////////////////////////////////////////////////////////////////////////////////////////////// |