Octree Box search crash.

[nihad861]

I am dealing with octree box search. It seems it could not produce valid result. For test purpose, I deal with only eight points, and I set lower & upper corner values. It is expected it will produce all values from input cloud. Here is my code.

int main(..)
{
pcl::PointCloudpcl::PointXYZ cloud;
cloud.width = 8;
cloud.height = 1;
cloud.is_dense = false;
cloud.points.resize (cloud.width * cloud.height);

float box_point[8][3] = {
{0, 0, 0},
{0, 2, 0},
{0, 1, 1},
{0, 3, 1},
{0, 0, 3},
{0, 2, 3},
{0, 1, 4},
{0, 3, 4}
};

for (size_t i = 0; i < cloud.points.size (); ++i)

{

cloud.points[i].x = box_point[i][0]; 
cloud.points[i].y = box_point[i][1]; 
cloud.points[i].z = box_point[i][2]; 

}

float resolution = 0.1;
pcl::octree::OctreePointCloudSearchpcl::PointXYZ octree (resolution);
octree.setInputCloud (cloud.makeShared());
octree.addPointsFromInputCloud ();

std::vector pointIdxVec;
Eigen::Vector3f min_pt(0,0,0);
Eigen::Vector3f max_pt(0,3,4);

octree.boxSearch(min_pt,max_pt,pointIdxVec);

for (size_t i = 0; i < pointIdxVec.size (); ++i)
std::cout << " " << cloud.points[pointIdxVec[i]].x
<< " " << cloud.points[pointIdxVec[i]].y
<< " " << cloud.points[pointIdxVec[i]].z << std::endl;
cout<<"PointIdxVec size:"<<pointIdxVec.size ()<<endl;
}

My understanding is output would be 8 points, but i got 0 point. ur suggession most appreciable. Thanks in advance.

[jkammerl]

Thanks for your bug report!

Here you'll find the fix:
#10

Please let me know if it works for you.

Cheers, Julius