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Better for loops, part 3/N #3556

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merged 8 commits into from
Jan 16, 2020
Merged

Better for loops, part 3/N #3556

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751f06a
flare.hpp: Code improvement via auto and modern for loops
kunaltyagi Jan 9, 2020
e749841
fpfh.hpp: Code improvement via auto and modern for loops
kunaltyagi Jan 9, 2020
4f2f6cc
fpfh_omp.hpp: Code improvement via auto and modern for loops
kunaltyagi Jan 9, 2020
5a7ac49
gfpfh.hpp: Code improvement via auto and modern for loops
kunaltyagi Jan 9, 2020
d5846b3
grsd.hpp: Code improvement via auto and modern for loops
kunaltyagi Jan 9, 2020
dabd857
multiscale_feature_persistence.hpp: Code improvement via auto and mod…
kunaltyagi Jan 9, 2020
43f7d6e
our_cvfh.hpp: Code improvement via auto and modern for loops
kunaltyagi Jan 9, 2020
24509fa
Fixup in flare.hpp
kunaltyagi Jan 15, 2020
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our_cvfh.hpp: Code improvement via auto and modern for loops
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@kunaltyagi
kunaltyagi committed Jan 16, 2020
commit 43f7d6e76e97d8fa1a8c63d18abab294f964454e
8 changes: 4 additions & 4 deletions features/include/pcl/features/impl/our_cvfh.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -262,9 +262,9 @@ pcl::OURCVFHEstimation<PointInT, PointNT, PointOutT>::sgurf (Eigen::Vector3f & c
s_xplus = s_xminus = s_yplus = s_yminus = 0.f;

//disambiguate rf using all points
for (int k = 0; k < static_cast<int> (grid->points.size ()); k++)
for (const auto& point: grid->points)
{
Eigen::Vector3f pvector = grid->points[k].getVector3fMap ();
Eigen::Vector3f pvector = point.getVector3fMap ();
float dist_x, dist_y;
dist_x = std::abs (evx.dot (pvector));
dist_y = std::abs (evy.dot (pvector));
Expand Down Expand Up @@ -419,9 +419,9 @@ pcl::OURCVFHEstimation<PointInT, PointNT, PointOutT>::computeRFAndShapeDistribut
float sigma = 0.01f; //1cm
float sigma_sq = sigma * sigma;

for (int k = 0; k < static_cast<int> (grid->points.size ()); k++)
for (const auto& point: grid->points)
{
Eigen::Vector4f p = grid->points[k].getVector4fMap ();
Eigen::Vector4f p = point.getVector4fMap ();
p[3] = 0.f;
float d = p.norm ();

Expand Down