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Force C++ over C math function #3087

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May 17, 2019
Merged

Force C++ over C math function #3087

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2 changes: 1 addition & 1 deletion common/include/pcl/common/utils.h
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Expand Up @@ -53,7 +53,7 @@ namespace pcl
template<typename T> bool
equal (T val1, T val2, T eps = std::numeric_limits<T>::min ())
{
return (fabs (val1 - val2) < eps);
return (std::fabs (val1 - val2) < eps);
}
}
}
28 changes: 14 additions & 14 deletions common/include/pcl/range_image/impl/range_image.hpp
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Expand Up @@ -110,11 +110,11 @@ RangeImage::createFromPointCloud (const PointCloudType& point_cloud,
{
setAngularResolution (angular_resolution_x, angular_resolution_y);

width = static_cast<uint32_t> (pcl_lrint (floor (max_angle_width*angular_resolution_x_reciprocal_)));
height = static_cast<uint32_t> (pcl_lrint (floor (max_angle_height*angular_resolution_y_reciprocal_)));
width = static_cast<uint32_t> (pcl_lrint (std::floor (max_angle_width*angular_resolution_x_reciprocal_)));
height = static_cast<uint32_t> (pcl_lrint (std::floor (max_angle_height*angular_resolution_y_reciprocal_)));

int full_width = static_cast<int> (pcl_lrint (floor (pcl::deg2rad (360.0f)*angular_resolution_x_reciprocal_))),
full_height = static_cast<int> (pcl_lrint (floor (pcl::deg2rad (180.0f)*angular_resolution_y_reciprocal_)));
int full_width = static_cast<int> (pcl_lrint (std::floor (pcl::deg2rad (360.0f)*angular_resolution_x_reciprocal_))),
full_height = static_cast<int> (pcl_lrint (std::floor (pcl::deg2rad (180.0f)*angular_resolution_y_reciprocal_)));
image_offset_x_ = (full_width -static_cast<int> (width) )/2;
image_offset_y_ = (full_height-static_cast<int> (height))/2;
is_dense = false;
Expand Down Expand Up @@ -175,8 +175,8 @@ RangeImage::createFromPointCloudWithKnownSize (const PointCloudType& point_cloud
to_range_image_system_ = to_world_system_.inverse (Eigen::Isometry);

float max_angle_size = getMaxAngleSize (sensor_pose, point_cloud_center, point_cloud_radius);
int pixel_radius_x = pcl_lrint (ceil (0.5f*max_angle_size*angular_resolution_x_reciprocal_)),
pixel_radius_y = pcl_lrint (ceil (0.5f*max_angle_size*angular_resolution_y_reciprocal_));
int pixel_radius_x = pcl_lrint (std::ceil (0.5f*max_angle_size*angular_resolution_x_reciprocal_)),
pixel_radius_y = pcl_lrint (std::ceil (0.5f*max_angle_size*angular_resolution_y_reciprocal_));
width = 2*pixel_radius_x;
height = 2*pixel_radius_y;
is_dense = false;
Expand Down Expand Up @@ -254,8 +254,8 @@ RangeImage::doZBuffer (const PointCloudType& point_cloud, float noise_level, flo
//std::cout << " ("<<current_point[0]<<", "<<current_point[1]<<", "<<current_point[2]<<") falls into pixel "<<x<<","<<y<<".\n";

// Do some minor interpolation by checking the three closest neighbors to the point, that are not filled yet.
int floor_x = pcl_lrint (floor (x_real)), floor_y = pcl_lrint (floor (y_real)),
ceil_x = pcl_lrint (ceil (x_real)), ceil_y = pcl_lrint (ceil (y_real));
int floor_x = pcl_lrint (std::floor (x_real)), floor_y = pcl_lrint (std::floor (y_real)),
ceil_x = pcl_lrint (std::ceil (x_real)), ceil_y = pcl_lrint (std::ceil (y_real));

int neighbor_x[4], neighbor_y[4];
neighbor_x[0]=floor_x; neighbor_y[0]=floor_y;
Expand Down Expand Up @@ -299,7 +299,7 @@ RangeImage::doZBuffer (const PointCloudType& point_cloud, float noise_level, flo
{
replace_with_current_point = true;
}
else if (fabs (range_of_current_point-range_at_image_point)<=noise_level)
else if (std::fabs (range_of_current_point-range_at_image_point)<=noise_level)
{
addCurrentPoint = true;
}
Expand Down Expand Up @@ -652,7 +652,7 @@ RangeImage::getAcutenessValue (const PointWithRange& point1, const PointWithRang
float impact_angle = getImpactAngle (point1, point2);
if (std::isinf (impact_angle))
return -std::numeric_limits<float>::infinity ();
float ret = 1.0f - float (fabs (impact_angle)/ (0.5f*M_PI));
float ret = 1.0f - float (std::fabs (impact_angle)/ (0.5f*M_PI));
if (impact_angle < 0.0f)
ret = -ret;
//if (fabs (ret)>1)
Expand Down Expand Up @@ -1228,10 +1228,10 @@ RangeImage::integrateFarRanges (const PointCloudType& far_ranges)

this->getImagePoint (current_point, x_real, y_real, range_of_current_point);

int floor_x = static_cast<int> (pcl_lrint (floor (x_real))),
floor_y = static_cast<int> (pcl_lrint (floor (y_real))),
ceil_x = static_cast<int> (pcl_lrint (ceil (x_real))),
ceil_y = static_cast<int> (pcl_lrint (ceil (y_real)));
int floor_x = static_cast<int> (pcl_lrint (std::floor (x_real))),
floor_y = static_cast<int> (pcl_lrint (std::floor (y_real))),
ceil_x = static_cast<int> (pcl_lrint (std::ceil (x_real))),
ceil_y = static_cast<int> (pcl_lrint (std::ceil (y_real)));

int neighbor_x[4], neighbor_y[4];
neighbor_x[0]=floor_x; neighbor_y[0]=floor_y;
Expand Down
6 changes: 3 additions & 3 deletions common/src/gaussian.cpp
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Expand Up @@ -53,7 +53,7 @@ pcl::GaussianKernel::compute (float sigma,
kernel[k] = kernel[j] = expf (-static_cast<float>(i) * static_cast<float>(i) * sigma_sqr);
kernel[hw] = 1;
unsigned g_width = kernel_width;
for (unsigned i = 0; fabs (kernel[i]/max_gauss) < factor; i++, g_width-= 2) ;
for (unsigned i = 0; std::fabs (kernel[i]/max_gauss) < factor; i++, g_width-= 2) ;
if (g_width == kernel_width)
{
PCL_THROW_EXCEPTION (pcl::KernelWidthTooSmallException,
Expand Down Expand Up @@ -98,8 +98,8 @@ pcl::GaussianKernel::compute (float sigma,
// Compute kernel and derivative true width
unsigned g_width = kernel_width;
unsigned d_width = kernel_width;
for (unsigned i = 0; fabs (derivative[i]/max_deriv) < factor; i++, d_width-= 2) ;
for (unsigned i = 0; fabs (kernel[i]/max_gauss) < factor; i++, g_width-= 2) ;
for (unsigned i = 0; std::fabs (derivative[i]/max_deriv) < factor; i++, d_width-= 2) ;
for (unsigned i = 0; std::fabs (kernel[i]/max_gauss) < factor; i++, g_width-= 2) ;
if (g_width == kernel_width || d_width == kernel_width)
{
PCL_THROW_EXCEPTION (KernelWidthTooSmallException,
Expand Down
8 changes: 4 additions & 4 deletions common/src/projection_matrix.cpp
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Expand Up @@ -56,17 +56,17 @@ pcl::getCameraMatrixFromProjectionMatrix (
{
camera_matrix.coeffRef (2) = cam.coeff (2);
camera_matrix.coeffRef (5) = cam.coeff (5);
camera_matrix.coeffRef (4) = static_cast<float> (sqrt (cam.coeff (4) - cam.coeff (5) * cam.coeff (5)));
camera_matrix.coeffRef (4) = static_cast<float> (std::sqrt (cam.coeff (4) - cam.coeff (5) * cam.coeff (5)));
camera_matrix.coeffRef (1) = (cam.coeff (1) - cam.coeff (2) * cam.coeff (5)) / camera_matrix.coeff (4);
camera_matrix.coeffRef (0) = static_cast<float> (sqrt (cam.coeff (0) - camera_matrix.coeff (1) * camera_matrix.coeff (1) - cam.coeff (2) * cam.coeff (2)));
camera_matrix.coeffRef (0) = static_cast<float> (std::sqrt (cam.coeff (0) - camera_matrix.coeff (1) * camera_matrix.coeff (1) - cam.coeff (2) * cam.coeff (2)));
}
else
{
camera_matrix.coeffRef (6) = cam.coeff (2);
camera_matrix.coeffRef (7) = cam.coeff (5);
camera_matrix.coeffRef (4) = static_cast<float> (sqrt (cam.coeff (4) - cam.coeff (5) * cam.coeff (5)));
camera_matrix.coeffRef (4) = static_cast<float> (std::sqrt (cam.coeff (4) - cam.coeff (5) * cam.coeff (5)));
camera_matrix.coeffRef (3) = (cam.coeff (1) - cam.coeff (2) * cam.coeff (5)) / camera_matrix.coeff (4);
camera_matrix.coeffRef (0) = static_cast<float> (sqrt (cam.coeff (0) - camera_matrix.coeff (3) * camera_matrix.coeff (3) - cam.coeff (2) * cam.coeff (2)));
camera_matrix.coeffRef (0) = static_cast<float> (std::sqrt (cam.coeff (0) - camera_matrix.coeff (3) * camera_matrix.coeff (3) - cam.coeff (2) * cam.coeff (2)));
}
}

8 changes: 4 additions & 4 deletions common/src/range_image.cpp
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Expand Up @@ -149,11 +149,11 @@ RangeImage::createEmpty (float angular_resolution_x, float angular_resolution_y,
RangeImage::CoordinateFrame coordinate_frame, float angle_width, float angle_height)
{
setAngularResolution(angular_resolution_x, angular_resolution_y);
width = static_cast<uint32_t> (pcl_lrint (floor (angle_width * angular_resolution_x_reciprocal_)));
height = static_cast<uint32_t> (pcl_lrint (floor (angle_height * angular_resolution_y_reciprocal_)));
width = static_cast<uint32_t> (pcl_lrint (std::floor (angle_width * angular_resolution_x_reciprocal_)));
height = static_cast<uint32_t> (pcl_lrint (std::floor (angle_height * angular_resolution_y_reciprocal_)));

int full_width = static_cast<int> (pcl_lrint (floor (pcl::deg2rad (360.0f)*angular_resolution_x_reciprocal_))),
full_height = static_cast<int> (pcl_lrint (floor (pcl::deg2rad (180.0f)*angular_resolution_y_reciprocal_)));
int full_width = static_cast<int> (pcl_lrint (std::floor (pcl::deg2rad (360.0f)*angular_resolution_x_reciprocal_))),
full_height = static_cast<int> (pcl_lrint (std::floor (pcl::deg2rad (180.0f)*angular_resolution_y_reciprocal_)));
image_offset_x_ = (full_width-width)/2;
image_offset_y_ = (full_height-height)/2;
is_dense = false;
Expand Down
6 changes: 3 additions & 3 deletions common/src/range_image_planar.cpp
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Expand Up @@ -65,7 +65,7 @@ namespace pcl
float original_angular_resolution = atanf (0.5f * static_cast<float> (di_width) / static_cast<float> (focal_length)) / (0.5f * static_cast<float> (di_width));
int skip = 1;
if (desired_angular_resolution >= 2.0f*original_angular_resolution)
skip = static_cast<int> (pcl_lrint (floor (desired_angular_resolution / original_angular_resolution)));
skip = static_cast<int> (pcl_lrint (std::floor (desired_angular_resolution / original_angular_resolution)));

setAngularResolution (original_angular_resolution * static_cast<float> (skip));
width = di_width / skip;
Expand Down Expand Up @@ -124,7 +124,7 @@ namespace pcl
float original_angular_resolution = asinf (0.5f*static_cast<float> (di_width)/static_cast<float> (di_focal_length_x)) / (0.5f*static_cast<float> (di_width));
int skip = 1;
if (desired_angular_resolution >= 2.0f*original_angular_resolution)
skip = static_cast<int> (pcl_lrint (floor (desired_angular_resolution / original_angular_resolution)));
skip = static_cast<int> (pcl_lrint (std::floor (desired_angular_resolution / original_angular_resolution)));

setAngularResolution (original_angular_resolution * static_cast<float> (skip));
width = di_width / skip;
Expand Down Expand Up @@ -170,7 +170,7 @@ namespace pcl
float original_angular_resolution = asinf (0.5f*static_cast<float> (di_width)/static_cast<float> (di_focal_length_x)) / (0.5f*static_cast<float> (di_width));
int skip = 1;
if (desired_angular_resolution >= 2.0f*original_angular_resolution)
skip = static_cast<int> (pcl_lrint (floor (desired_angular_resolution/original_angular_resolution)));
skip = static_cast<int> (pcl_lrint (std::floor (desired_angular_resolution/original_angular_resolution)));

setAngularResolution (original_angular_resolution * static_cast<float> (skip));
width = di_width / skip;
Expand Down
2 changes: 1 addition & 1 deletion features/include/pcl/features/impl/board.hpp
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Expand Up @@ -307,7 +307,7 @@ pcl::BOARDLocalReferenceFrameEstimation<PointInT, PointNT, PointOutT>::computePo
surface_->at (curr_neigh_idx).getVector3fMap (), indicating_normal_vect);
float angle = getAngleBetweenUnitVectors (x_axis, indicating_normal_vect, fitted_normal);

int check_margin_array_idx = std::min (static_cast<int> (floor (angle / max_boundary_angle)), check_margin_array_size_ - 1);
int check_margin_array_idx = std::min (static_cast<int> (std::floor (angle / max_boundary_angle)), check_margin_array_size_ - 1);
check_margin_array_[check_margin_array_idx] = true;

if (angle < margin_array_min_angle_[check_margin_array_idx])
Expand Down
2 changes: 1 addition & 1 deletion features/include/pcl/features/impl/cppf.hpp
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Expand Up @@ -94,7 +94,7 @@ pcl::CPPFEstimation<PointInT, PointNT, PointOutT>::computeFeature (PointCloudOut

Eigen::Vector3f model_point_transformed = transform_mg * model_point;
float angle = atan2f ( -model_point_transformed(2), model_point_transformed(1));
if (sin (angle) * model_point_transformed(2) < 0.0f)
if (std::sin (angle) * model_point_transformed(2) < 0.0f)
angle *= (-1);
p.alpha_m = -angle;
}
Expand Down
12 changes: 6 additions & 6 deletions features/include/pcl/features/impl/esf.hpp
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Expand Up @@ -427,9 +427,9 @@ pcl::ESFEstimation<PointInT, PointOutT>::voxelize9 (PointCloudIn &cluster)
int xi,yi,zi,xx,yy,zz;
for (size_t i = 0; i < cluster.points.size (); ++i)
{
xx = cluster.points[i].x<0.0? static_cast<int>(floor(cluster.points[i].x)+GRIDSIZE_H) : static_cast<int>(ceil(cluster.points[i].x)+GRIDSIZE_H-1);
yy = cluster.points[i].y<0.0? static_cast<int>(floor(cluster.points[i].y)+GRIDSIZE_H) : static_cast<int>(ceil(cluster.points[i].y)+GRIDSIZE_H-1);
zz = cluster.points[i].z<0.0? static_cast<int>(floor(cluster.points[i].z)+GRIDSIZE_H) : static_cast<int>(ceil(cluster.points[i].z)+GRIDSIZE_H-1);
xx = cluster.points[i].x<0.0? static_cast<int>(std::floor(cluster.points[i].x)+GRIDSIZE_H) : static_cast<int>(std::ceil(cluster.points[i].x)+GRIDSIZE_H-1);
yy = cluster.points[i].y<0.0? static_cast<int>(std::floor(cluster.points[i].y)+GRIDSIZE_H) : static_cast<int>(std::ceil(cluster.points[i].y)+GRIDSIZE_H-1);
zz = cluster.points[i].z<0.0? static_cast<int>(std::floor(cluster.points[i].z)+GRIDSIZE_H) : static_cast<int>(std::ceil(cluster.points[i].z)+GRIDSIZE_H-1);

for (int x = -1; x < 2; x++)
for (int y = -1; y < 2; y++)
Expand All @@ -456,9 +456,9 @@ pcl::ESFEstimation<PointInT, PointOutT>::cleanup9 (PointCloudIn &cluster)
int xi,yi,zi,xx,yy,zz;
for (size_t i = 0; i < cluster.points.size (); ++i)
{
xx = cluster.points[i].x<0.0? static_cast<int>(floor(cluster.points[i].x)+GRIDSIZE_H) : static_cast<int>(ceil(cluster.points[i].x)+GRIDSIZE_H-1);
yy = cluster.points[i].y<0.0? static_cast<int>(floor(cluster.points[i].y)+GRIDSIZE_H) : static_cast<int>(ceil(cluster.points[i].y)+GRIDSIZE_H-1);
zz = cluster.points[i].z<0.0? static_cast<int>(floor(cluster.points[i].z)+GRIDSIZE_H) : static_cast<int>(ceil(cluster.points[i].z)+GRIDSIZE_H-1);
xx = cluster.points[i].x<0.0? static_cast<int>(std::floor(cluster.points[i].x)+GRIDSIZE_H) : static_cast<int>(std::ceil(cluster.points[i].x)+GRIDSIZE_H-1);
yy = cluster.points[i].y<0.0? static_cast<int>(std::floor(cluster.points[i].y)+GRIDSIZE_H) : static_cast<int>(std::ceil(cluster.points[i].y)+GRIDSIZE_H-1);
zz = cluster.points[i].z<0.0? static_cast<int>(std::floor(cluster.points[i].z)+GRIDSIZE_H) : static_cast<int>(std::ceil(cluster.points[i].z)+GRIDSIZE_H-1);

for (int x = -1; x < 2; x++)
for (int y = -1; y < 2; y++)
Expand Down
2 changes: 1 addition & 1 deletion features/include/pcl/features/impl/gfpfh.hpp
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Expand Up @@ -211,7 +211,7 @@ pcl::GFPFHEstimation<PointInT, PointNT, PointOutT>::computeDistanceHistogram (co
for (const float &distance : distances)
{
const float raw_bin = static_cast<float> (descriptorSize ()) * (distance - min_value) / range;
int bin = std::min (max_bin, static_cast<int> (floor (raw_bin)));
int bin = std::min (max_bin, static_cast<int> (std::floor (raw_bin)));
histogram[bin] += 1;
}
}
Expand Down
4 changes: 2 additions & 2 deletions features/include/pcl/features/impl/integral_image_normal.hpp
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Expand Up @@ -744,13 +744,13 @@ pcl::IntegralImageNormalEstimation<PointInT, PointOutT>::computeFeature (PointCl
//const float depthDependendDepthChange = (max_depth_change_factor_ * (fabs(depth)+1.0f))/(500.0f*0.001f);
const float depthDependendDepthChange = (max_depth_change_factor_ * (fabsf (depth) + 1.0f) * 2.0f);

if (fabs (depth - depthR) > depthDependendDepthChange
if (std::fabs (depth - depthR) > depthDependendDepthChange
|| !std::isfinite (depth) || !std::isfinite (depthR))
{
depthChangeMap[index] = 0;
depthChangeMap[index+1] = 0;
}
if (fabs (depth - depthD) > depthDependendDepthChange
if (std::fabs (depth - depthD) > depthDependendDepthChange
|| !std::isfinite (depth) || !std::isfinite (depthD))
{
depthChangeMap[index] = 0;
Expand Down
8 changes: 4 additions & 4 deletions features/include/pcl/features/impl/intensity_spin.hpp
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Expand Up @@ -86,10 +86,10 @@ pcl::IntensitySpinEstimation<PointInT, PointOutT>::computeIntensitySpinImage (
else
{
// Compute the bin indices that need to be updated (+/- 3 standard deviations)
int d_idx_min = (std::max)(static_cast<int> (floor (d - 3*sigma)), 0);
int d_idx_max = (std::min)(static_cast<int> (ceil (d + 3*sigma)), nr_distance_bins - 1);
int i_idx_min = (std::max)(static_cast<int> (floor (i - 3*sigma)), 0);
int i_idx_max = (std::min)(static_cast<int> (ceil (i + 3*sigma)), nr_intensity_bins - 1);
int d_idx_min = (std::max)(static_cast<int> (std::floor (d - 3*sigma)), 0);
int d_idx_max = (std::min)(static_cast<int> (std::ceil (d + 3*sigma)), nr_distance_bins - 1);
int i_idx_min = (std::max)(static_cast<int> (std::floor (i - 3*sigma)), 0);
int i_idx_max = (std::min)(static_cast<int> (std::ceil (i + 3*sigma)), nr_intensity_bins - 1);

// Update the appropriate bins of the histogram
for (int i_idx = i_idx_min; i_idx <= i_idx_max; ++i_idx)
Expand Down
4 changes: 2 additions & 2 deletions features/include/pcl/features/impl/linear_least_squares_normal.hpp
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Expand Up @@ -110,7 +110,7 @@ pcl::LinearLeastSquaresNormalEstimation<PointInT, PointOutT>::computePointNormal
float depthChangeThreshold = pz*pz * 0.05f * max_depth_change_factor_;
if (use_depth_dependent_smoothing_) depthChangeThreshold *= pz;

const float f = fabs (delta) > depthChangeThreshold ? 0 : 1;
const float f = std::fabs (delta) > depthChangeThreshold ? 0 : 1;

matA0 += f * i * i;
matA1 += f * i * j;
Expand Down Expand Up @@ -219,7 +219,7 @@ pcl::LinearLeastSquaresNormalEstimation<PointInT, PointOutT>::computeFeature (Po
const float j = qy - py;

const float depthDependendDepthChange = (max_depth_change_factor_ * (fabsf (pz) + 1.0f) * 2.0f);
const float f = fabs(delta) > depthDependendDepthChange ? 0 : 1;
const float f = std::fabs(delta) > depthDependendDepthChange ? 0 : 1;

//float f = fabs(delta) > (pz * 0.05f - 0.3f) ? 0 : 1;
//const float f = fabs(delta) > (pz*pz * 0.05f * max_depth_change_factor_) ? 0 : 1;
Expand Down
10 changes: 5 additions & 5 deletions features/include/pcl/features/impl/moment_of_inertia_estimation.hpp
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Expand Up @@ -465,8 +465,8 @@ pcl::MomentOfInertiaEstimation<PointT>::rotateVector (const Eigen::Vector3f& vec
const float y = axis (1);
const float z = axis (2);
const float rad = M_PI / 180.0f;
const float cosine = cos (angle * rad);
const float sine = sin (angle * rad);
const float cosine = std::cos (angle * rad);
const float sine = std::sin (angle * rad);
rotation_matrix << cosine + (1 - cosine) * x * x, (1 - cosine) * x * y - sine * z, (1 - cosine) * x * z + sine * y,
(1 - cosine) * y * x + sine * z, cosine + (1 - cosine) * y * y, (1 - cosine) * y * z - sine * x,
(1 - cosine) * z * x - sine * y, (1 - cosine) * z * y + sine * x, cosine + (1 - cosine) * z * z;
Expand Down Expand Up @@ -540,13 +540,13 @@ pcl::MomentOfInertiaEstimation<PointT>::computeEccentricity (const Eigen::Matrix
float eccentricity = 0.0f;

if (major >= middle && major >= minor && middle_value != 0.0f)
eccentricity = pow (1.0f - (minor_value * minor_value) / (middle_value * middle_value), 0.5f);
eccentricity = std::pow (1.0f - (minor_value * minor_value) / (middle_value * middle_value), 0.5f);

if (middle >= major && middle >= minor && major_value != 0.0f)
eccentricity = pow (1.0f - (minor_value * minor_value) / (major_value * major_value), 0.5f);
eccentricity = std::pow (1.0f - (minor_value * minor_value) / (major_value * major_value), 0.5f);

if (minor >= major && minor >= middle && major_value != 0.0f)
eccentricity = pow (1.0f - (middle_value * middle_value) / (major_value * major_value), 0.5f);
eccentricity = std::pow (1.0f - (middle_value * middle_value) / (major_value * major_value), 0.5f);

return (eccentricity);
}
Expand Down
2 changes: 1 addition & 1 deletion features/include/pcl/features/impl/ppf.hpp
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Expand Up @@ -93,7 +93,7 @@ pcl::PPFEstimation<PointInT, PointNT, PointOutT>::computeFeature (PointCloudOut

Eigen::Vector3f model_point_transformed = transform_mg * model_point;
float angle = atan2f ( -model_point_transformed(2), model_point_transformed(1));
if (sin (angle) * model_point_transformed(2) < 0.0f)
if (std::sin (angle) * model_point_transformed(2) < 0.0f)
angle *= (-1);
p.alpha_m = -angle;
}
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2 changes: 1 addition & 1 deletion features/include/pcl/features/impl/ppfrgb.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -86,7 +86,7 @@ pcl::PPFRGBEstimation<PointInT, PointNT, PointOutT>::computeFeature (PointCloudO

Eigen::Vector3f model_point_transformed = transform_mg * model_point;
float angle = atan2f ( -model_point_transformed(2), model_point_transformed(1));
if (sin (angle) * model_point_transformed(2) < 0.0f)
if (std::sin (angle) * model_point_transformed(2) < 0.0f)
angle *= (-1);
p.alpha_m = -angle;
}
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