I have an octree data structure representing a uniform dense point cloud. I use the point cloud library for the implementation of the octree. The tutorial (see previous link) shows how to find points in the octree which are within a distance r of a specified point. In my case I want to find all the voxels which are within a specific distance of a plane.

At the moment I have not see any functionality which would allow me to do this.

My initial guess to approach solve this problem would be to implement my own octree search method which would take a function pointer to my own specific metric. This might mean I will have to get the source code of pcl and make changes there.

I ask the question here because I know a lot of you use this library in your robot applications. Has any body came across this problem ?

I have just started to use pcl today.