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[common] Replace usage of std::vector<int> with Indices #3989

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May 20, 2020
Merged

[common] Replace usage of std::vector<int> with Indices #3989

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4 changes: 2 additions & 2 deletions common/include/pcl/cloud_iterator.h
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Original file line number Diff line number Diff line change
Expand Up @@ -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);

Expand Down Expand Up @@ -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);

Expand Down
62 changes: 31 additions & 31 deletions common/include/pcl/common/centroid.h
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Expand Up @@ -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));
Expand All @@ -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));
Expand Down Expand Up @@ -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)
{
Expand All @@ -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)
{
Expand Down Expand Up @@ -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)
{
Expand All @@ -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)
{
Expand Down Expand Up @@ -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)
{
Expand All @@ -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)
{
Expand Down Expand Up @@ -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));
Expand Down Expand Up @@ -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)
{
Expand All @@ -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)
{
Expand Down Expand Up @@ -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)
{
Expand All @@ -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)
{
Expand Down Expand Up @@ -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));
Expand All @@ -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));
Expand Down Expand Up @@ -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);

}
Expand Down
8 changes: 4 additions & 4 deletions common/include/pcl/common/common.h
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Original file line number Diff line number Diff line change
Expand Up @@ -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
Expand All @@ -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
Expand Down Expand Up @@ -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
Expand All @@ -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
Expand Down
3 changes: 2 additions & 1 deletion common/include/pcl/common/distances.h
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Original file line number Diff line number Diff line change
Expand Up @@ -39,6 +39,7 @@

#include <limits>

#include <pcl/types.h>
#include <pcl/common/common.h>

/**
Expand Down Expand Up @@ -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 ();
Expand Down
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