Merge pull request PointCloudLibrary#107 from jkammerl/boxsearch-fix

fixing issue 97 - PointCloudLibrary#97
fran6co · Jun 1, 2013 · e386f35 · e386f35
2 parents 811162f + feefcc4
commit e386f35
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Showing 2 changed files with 4 additions and 4 deletions.
diff --git a/octree/include/pcl/octree/impl/octree_pointcloud.hpp b/octree/include/pcl/octree/impl/octree_pointcloud.hpp
@@ -434,7 +434,7 @@ pcl::octree::OctreePointCloud<PointT, LeafContainerT, BranchContainerT, OctreeT>
 
     // do we violate any bounds?
     if (bLowerBoundViolationX || bLowerBoundViolationY || bLowerBoundViolationZ || bUpperBoundViolationX
-        || bUpperBoundViolationY || bUpperBoundViolationZ )
+        || bUpperBoundViolationY || bUpperBoundViolationZ || (!bounding_box_defined_) )
     {
 
       if (bounding_box_defined_)

diff --git a/octree/include/pcl/octree/impl/octree_search.hpp b/octree/include/pcl/octree/impl/octree_search.hpp
@@ -571,9 +571,9 @@ pcl::octree::OctreePointCloudSearch<PointT, LeafContainerT, BranchContainerT>::b
           const PointT& candidate_point = this->getPointByIndex (decoded_point_vector[i]);
 
           // check if point falls within search box
-          bInBox = ( (candidate_point.x > min_pt (0)) && (candidate_point.x < max_pt (0)) &&
-                     (candidate_point.y > min_pt (1)) && (candidate_point.y < max_pt (1)) &&
-                     (candidate_point.z > min_pt (2)) && (candidate_point.z < max_pt (2)) );
+          bInBox = ( (candidate_point.x >= min_pt (0)) && (candidate_point.x <= max_pt (0)) &&
+                     (candidate_point.y >= min_pt (1)) && (candidate_point.y <= max_pt (1)) &&
+                     (candidate_point.z >= min_pt (2)) && (candidate_point.z <= max_pt (2)) );
 
           if (bInBox)
             // add to result vector