std::vector<int{>,} -> Indices{,Allocator}

PointCloudLibrary · May 18, 2020 · 8b8cedc · 8b8cedc
1 parent 53f3593
commit 8b8cedc
Show file tree

Hide file tree

Showing 21 changed files with 120 additions and 143 deletions.
diff --git a/common/include/pcl/cloud_iterator.h b/common/include/pcl/cloud_iterator.h
@@ -53,7 +53,7 @@ namespace pcl
     public:
       CloudIterator (PointCloud<PointT>& cloud);
 
-      CloudIterator (PointCloud<PointT>& cloud, const std::vector<int>& indices);
+      CloudIterator (PointCloud<PointT>& cloud, const Indices& indices);
 
       CloudIterator (PointCloud<PointT>& cloud, const PointIndices& indices);
 
@@ -122,7 +122,7 @@ namespace pcl
     public:
       ConstCloudIterator (const PointCloud<PointT>& cloud);
 
-      ConstCloudIterator (const PointCloud<PointT>& cloud, const std::vector<int>& indices);
+      ConstCloudIterator (const PointCloud<PointT>& cloud, const Indices& indices);
 
       ConstCloudIterator (const PointCloud<PointT>& cloud, const PointIndices& indices);
 

diff --git a/common/include/pcl/common/centroid.h b/common/include/pcl/common/centroid.h
@@ -118,20 +118,20 @@ namespace pcl
     */
   template <typename PointT, typename Scalar> inline unsigned int
   compute3DCentroid (const pcl::PointCloud<PointT> &cloud,
-                     const std::vector<int> &indices, 
+                     const Indices &indices,
                      Eigen::Matrix<Scalar, 4, 1> &centroid);
 
   template <typename PointT> inline unsigned int
   compute3DCentroid (const pcl::PointCloud<PointT> &cloud,
-                     const std::vector<int> &indices, 
+                     const Indices &indices,
                      Eigen::Vector4f &centroid)
   {
     return (compute3DCentroid <PointT, float> (cloud, indices, centroid));
   }
 
   template <typename PointT> inline unsigned int
   compute3DCentroid (const pcl::PointCloud<PointT> &cloud,
-                     const std::vector<int> &indices, 
+                     const Indices &indices,
                      Eigen::Vector4d &centroid)
   {
     return (compute3DCentroid <PointT, double> (cloud, indices, centroid));
@@ -149,20 +149,20 @@ namespace pcl
     */
   template <typename PointT, typename Scalar> inline unsigned int
   compute3DCentroid (const pcl::PointCloud<PointT> &cloud,
-                     const pcl::PointIndices &indices, 
+                     const pcl::PointIndices &indices,
                      Eigen::Matrix<Scalar, 4, 1> &centroid);
 
   template <typename PointT> inline unsigned int
   compute3DCentroid (const pcl::PointCloud<PointT> &cloud,
-                     const pcl::PointIndices &indices, 
+                     const pcl::PointIndices &indices,
                      Eigen::Vector4f &centroid)
   {
     return (compute3DCentroid <PointT, float> (cloud, indices, centroid));
   }
 
   template <typename PointT> inline unsigned int
   compute3DCentroid (const pcl::PointCloud<PointT> &cloud,
-                     const pcl::PointIndices &indices, 
+                     const pcl::PointIndices &indices,
                      Eigen::Vector4d &centroid)
   {
     return (compute3DCentroid <PointT, double> (cloud, indices, centroid));
@@ -251,13 +251,13 @@ namespace pcl
     */
   template <typename PointT, typename Scalar> inline unsigned int
   computeCovarianceMatrix (const pcl::PointCloud<PointT> &cloud,
-                           const std::vector<int> &indices,
+                           const Indices &indices,
                            const Eigen::Matrix<Scalar, 4, 1> &centroid,
                            Eigen::Matrix<Scalar, 3, 3> &covariance_matrix);
 
   template <typename PointT> inline unsigned int
   computeCovarianceMatrix (const pcl::PointCloud<PointT> &cloud,
-                           const std::vector<int> &indices,
+                           const Indices &indices,
                            const Eigen::Vector4f &centroid,
                            Eigen::Matrix3f &covariance_matrix)
   {
@@ -266,7 +266,7 @@ namespace pcl
 
   template <typename PointT> inline unsigned int
   computeCovarianceMatrix (const pcl::PointCloud<PointT> &cloud,
-                           const std::vector<int> &indices,
+                           const Indices &indices,
                            const Eigen::Vector4d &centroid,
                            Eigen::Matrix3d &covariance_matrix)
   {
@@ -327,13 +327,13 @@ namespace pcl
     */
   template <typename PointT, typename Scalar> inline unsigned int
   computeCovarianceMatrixNormalized (const pcl::PointCloud<PointT> &cloud,
-                                     const std::vector<int> &indices,
+                                     const Indices &indices,
                                      const Eigen::Matrix<Scalar, 4, 1> &centroid,
                                      Eigen::Matrix<Scalar, 3, 3> &covariance_matrix);
 
   template <typename PointT> inline unsigned int
   computeCovarianceMatrixNormalized (const pcl::PointCloud<PointT> &cloud,
-                                     const std::vector<int> &indices,
+                                     const Indices &indices,
                                      const Eigen::Vector4f &centroid,
                                      Eigen::Matrix3f &covariance_matrix)
   {
@@ -342,7 +342,7 @@ namespace pcl
 
   template <typename PointT> inline unsigned int
   computeCovarianceMatrixNormalized (const pcl::PointCloud<PointT> &cloud,
-                                     const std::vector<int> &indices,
+                                     const Indices &indices,
                                      const Eigen::Vector4d &centroid,
                                      Eigen::Matrix3d &covariance_matrix)
   {
@@ -435,13 +435,13 @@ namespace pcl
     */
   template <typename PointT, typename Scalar> inline unsigned int
   computeMeanAndCovarianceMatrix (const pcl::PointCloud<PointT> &cloud,
-                                  const std::vector<int> &indices,
+                                  const Indices &indices,
                                   Eigen::Matrix<Scalar, 3, 3> &covariance_matrix,
                                   Eigen::Matrix<Scalar, 4, 1> &centroid);
 
   template <typename PointT> inline unsigned int
   computeMeanAndCovarianceMatrix (const pcl::PointCloud<PointT> &cloud,
-                                  const std::vector<int> &indices,
+                                  const Indices &indices,
                                   Eigen::Matrix3f &covariance_matrix,
                                   Eigen::Vector4f &centroid)
   {
@@ -450,7 +450,7 @@ namespace pcl
 
   template <typename PointT> inline unsigned int
   computeMeanAndCovarianceMatrix (const pcl::PointCloud<PointT> &cloud,
-                                  const std::vector<int> &indices,
+                                  const Indices &indices,
                                   Eigen::Matrix3d &covariance_matrix,
                                   Eigen::Vector4d &centroid)
   {
@@ -537,20 +537,20 @@ namespace pcl
     */
   template <typename PointT, typename Scalar> inline unsigned int
   computeCovarianceMatrix (const pcl::PointCloud<PointT> &cloud,
-                           const std::vector<int> &indices,
+                           const Indices &indices,
                            Eigen::Matrix<Scalar, 3, 3> &covariance_matrix);
 
   template <typename PointT> inline unsigned int
   computeCovarianceMatrix (const pcl::PointCloud<PointT> &cloud,
-                           const std::vector<int> &indices,
+                           const Indices &indices,
                            Eigen::Matrix3f &covariance_matrix)
   {
     return (computeCovarianceMatrix<PointT, float> (cloud, indices, covariance_matrix));
   }
 
   template <typename PointT> inline unsigned int
   computeCovarianceMatrix (const pcl::PointCloud<PointT> &cloud,
-                           const std::vector<int> &indices,
+                           const Indices &indices,
                            Eigen::Matrix3d &covariance_matrix)
   {
     return (computeCovarianceMatrix<PointT, double> (cloud, indices, covariance_matrix));
@@ -656,13 +656,13 @@ namespace pcl
     */
   template <typename PointT, typename Scalar> void
   demeanPointCloud (const pcl::PointCloud<PointT> &cloud_in,
-                    const std::vector<int> &indices,
+                    const Indices &indices,
                     const Eigen::Matrix<Scalar, 4, 1> &centroid,
                     pcl::PointCloud<PointT> &cloud_out);
 
   template <typename PointT> void
   demeanPointCloud (const pcl::PointCloud<PointT> &cloud_in,
-                    const std::vector<int> &indices,
+                    const Indices &indices,
                     const Eigen::Vector4f &centroid,
                     pcl::PointCloud<PointT> &cloud_out)
   {
@@ -671,7 +671,7 @@ namespace pcl
 
   template <typename PointT> void
   demeanPointCloud (const pcl::PointCloud<PointT> &cloud_in,
-                    const std::vector<int> &indices,
+                    const Indices &indices,
                     const Eigen::Vector4d &centroid,
                     pcl::PointCloud<PointT> &cloud_out)
   {
@@ -782,13 +782,13 @@ namespace pcl
     */
   template <typename PointT, typename Scalar> void
   demeanPointCloud (const pcl::PointCloud<PointT> &cloud_in,
-                    const std::vector<int> &indices,
+                    const Indices &indices,
                     const Eigen::Matrix<Scalar, 4, 1> &centroid,
                     Eigen::Matrix<Scalar, Eigen::Dynamic, Eigen::Dynamic> &cloud_out);
 
   template <typename PointT> void
   demeanPointCloud (const pcl::PointCloud<PointT> &cloud_in,
-                    const std::vector<int> &indices,
+                    const Indices &indices,
                     const Eigen::Vector4f &centroid,
                     Eigen::MatrixXf &cloud_out)
   {
@@ -797,7 +797,7 @@ namespace pcl
 
   template <typename PointT> void
   demeanPointCloud (const pcl::PointCloud<PointT> &cloud_in,
-                    const std::vector<int> &indices,
+                    const Indices &indices,
                     const Eigen::Vector4d &centroid,
                     Eigen::MatrixXd &cloud_out)
   {
@@ -903,20 +903,20 @@ namespace pcl
     */
   template <typename PointT, typename Scalar> inline void
   computeNDCentroid (const pcl::PointCloud<PointT> &cloud,
-                     const std::vector<int> &indices, 
+                     const Indices &indices,
                      Eigen::Matrix<Scalar, Eigen::Dynamic, 1> &centroid);
 
   template <typename PointT> inline void
   computeNDCentroid (const pcl::PointCloud<PointT> &cloud, 
-                     const std::vector<int> &indices, 
+                     const Indices &indices,
                      Eigen::VectorXf &centroid)
   {
     return (computeNDCentroid<PointT, float> (cloud, indices, centroid));
   }
 
   template <typename PointT> inline void
   computeNDCentroid (const pcl::PointCloud<PointT> &cloud, 
-                     const std::vector<int> &indices, 
+                     const Indices &indices,
                      Eigen::VectorXd &centroid)
   {
     return (computeNDCentroid<PointT, double> (cloud, indices, centroid));
@@ -931,20 +931,20 @@ namespace pcl
     */
   template <typename PointT, typename Scalar> inline void
   computeNDCentroid (const pcl::PointCloud<PointT> &cloud,
-                     const pcl::PointIndices &indices, 
+                     const pcl::PointIndices &indices,
                      Eigen::Matrix<Scalar, Eigen::Dynamic, 1> &centroid);
 
   template <typename PointT> inline void
   computeNDCentroid (const pcl::PointCloud<PointT> &cloud, 
-                     const pcl::PointIndices &indices, 
+                     const pcl::PointIndices &indices,
                      Eigen::VectorXf &centroid)
   {
     return (computeNDCentroid<PointT, float> (cloud, indices, centroid));
   }
 
   template <typename PointT> inline void
   computeNDCentroid (const pcl::PointCloud<PointT> &cloud, 
-                     const pcl::PointIndices &indices, 
+                     const pcl::PointIndices &indices,
                      Eigen::VectorXd &centroid)
   {
     return (computeNDCentroid<PointT, double> (cloud, indices, centroid));
@@ -1091,7 +1091,7 @@ namespace pcl
     * \ingroup common */
   template <typename PointInT, typename PointOutT> std::size_t
   computeCentroid (const pcl::PointCloud<PointInT>& cloud,
-                   const std::vector<int>& indices,
+                   const Indices& indices,
                    PointOutT& centroid);
 
 }

diff --git a/common/include/pcl/common/common.h b/common/include/pcl/common/common.h
@@ -88,7 +88,7 @@ namespace pcl
     */
   template <typename PointT> inline void 
   getPointsInBox (const pcl::PointCloud<PointT> &cloud, Eigen::Vector4f &min_pt,
-                  Eigen::Vector4f &max_pt, std::vector<int> &indices);
+                  Eigen::Vector4f &max_pt, Indices &indices);
 
   /** \brief Get the point at maximum distance from a given point and a given pointcloud
     * \param cloud the point cloud data message
@@ -107,7 +107,7 @@ namespace pcl
     * \ingroup common
     */
   template<typename PointT> inline void
-  getMaxDistance (const pcl::PointCloud<PointT> &cloud, const std::vector<int> &indices, 
+  getMaxDistance (const pcl::PointCloud<PointT> &cloud, const Indices &indices,
                   const Eigen::Vector4f &pivot_pt, Eigen::Vector4f &max_pt);
 
   /** \brief Get the minimum and maximum values on each of the 3 (x-y-z) dimensions in a given pointcloud
@@ -137,7 +137,7 @@ namespace pcl
     * \ingroup common
     */
   template <typename PointT> inline void 
-  getMinMax3D (const pcl::PointCloud<PointT> &cloud, const std::vector<int> &indices, 
+  getMinMax3D (const pcl::PointCloud<PointT> &cloud, const Indices &indices,
                Eigen::Vector4f &min_pt, Eigen::Vector4f &max_pt);
 
   /** \brief Get the minimum and maximum values on each of the 3 (x-y-z) dimensions in a given pointcloud
@@ -148,7 +148,7 @@ namespace pcl
     * \ingroup common
     */
   template <typename PointT> inline void 
-  getMinMax3D (const pcl::PointCloud<PointT> &cloud, const pcl::PointIndices &indices, 
+  getMinMax3D (const pcl::PointCloud<PointT> &cloud, const pcl::PointIndices &indices,
                Eigen::Vector4f &min_pt, Eigen::Vector4f &max_pt);
 
   /** \brief Compute the radius of a circumscribed circle for a triangle formed of three points pa, pb, and pc

diff --git a/common/include/pcl/common/distances.h b/common/include/pcl/common/distances.h
@@ -39,6 +39,7 @@
 
 #include <limits>
 
+#include <pcl/types.h>
 #include <pcl/common/common.h>
 
 /**
@@ -139,7 +140,7 @@ namespace pcl
     * \ingroup common
     */
   template <typename PointT> double inline
-  getMaxSegment (const pcl::PointCloud<PointT> &cloud, const std::vector<int> &indices,
+  getMaxSegment (const pcl::PointCloud<PointT> &cloud, const Indices &indices,
                  PointT &pmin, PointT &pmax)
   {
     double max_dist = std::numeric_limits<double>::min ();