Updated to new iterator

danielduberg · Mar 6, 2020 · a185e7b · a185e7b
1 parent 39e42c1
commit a185e7b
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Showing 2 changed files with 14 additions and 12 deletions.
diff --git a/ufomap_rviz_plugin/src/octree_display.cpp b/ufomap_rviz_plugin/src/octree_display.cpp
@@ -163,12 +163,13 @@ void OctreeDisplay::update(float wall_dt, float ros_dt)
 			ufomap::Point3 min_coord = ufomap_.getMax();
 			ufomap::Point3 max_coord = ufomap_.getMin();
 
-			for (auto it = ufomap_.begin_leafs_bbx(min_value, max_value,
-																						 render_type_[UFOMAP_OCCUPIED]->getBool(),
-																						 render_type_[UFOMAP_FREE]->getBool(),
-																						 render_type_[UFOMAP_UNKNOWN]->getBool(),
-																						 false, depth_property_->getInt()),
-								end = ufomap_.end_leafs_bbx();
+			for (auto it = ufomap_.begin_leafs_bounding(
+										ufomap_geometry::AABB(min_value, max_value),
+										render_type_[UFOMAP_OCCUPIED]->getBool(),
+										render_type_[UFOMAP_FREE]->getBool(),
+										render_type_[UFOMAP_UNKNOWN]->getBool(), false,
+										depth_property_->getInt()),
+								end = ufomap_.end_leafs();
 					 it != end; ++it)
 			{
 				// TODO: Check visibility - no, bad idea!

diff --git a/ufomap_rviz_plugin/src/octree_rgb_display.cpp b/ufomap_rviz_plugin/src/octree_rgb_display.cpp
@@ -173,12 +173,13 @@ void OctreeRGBDisplay::update(float wall_dt, float ros_dt)
 			ufomap::Point3 min_coord = ufomap_.getMax();
 			ufomap::Point3 max_coord = ufomap_.getMin();
 
-			for (auto it = ufomap_.begin_leafs_bbx(min_value, max_value,
-																						 render_type_[UFOMAP_OCCUPIED]->getBool(),
-																						 render_type_[UFOMAP_FREE]->getBool(),
-																						 render_type_[UFOMAP_UNKNOWN]->getBool(),
-																						 false, depth_property_->getInt()),
-								end = ufomap_.end_leafs_bbx();
+			for (auto it = ufomap_.begin_leafs_bounding(
+										ufomap_geometry::AABB(min_value, max_value),
+										render_type_[UFOMAP_OCCUPIED]->getBool(),
+										render_type_[UFOMAP_FREE]->getBool(),
+										render_type_[UFOMAP_UNKNOWN]->getBool(), false,
+										depth_property_->getInt()),
+								end = ufomap_.end_leafs();
 					 it != end; ++it)
 			{
 				// TODO: Check visibility - no, bad idea!