Merge pull request #891 from giacomodabisias/master

inlined setInputFeatureCloud() and nearestNeighborSearch()
PointCloudLibrary · Sep 11, 2014 · 38f756d · 38f756d
2 parents 8d6103b + 8942f51
commit 38f756d
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Showing 3 changed files with 65 additions and 67 deletions.
diff --git a/registration/include/pcl/registration/impl/ppf_registration.hpp b/registration/include/pcl/registration/impl/ppf_registration.hpp
@@ -48,63 +48,6 @@
 #include <pcl/common/transforms.h>
 
 #include <pcl/features/pfh.h>
-//////////////////////////////////////////////////////////////////////////////////////////////
-void
-pcl::PPFHashMapSearch::setInputFeatureCloud (PointCloud<PPFSignature>::ConstPtr feature_cloud)
-{
-  // Discretize the feature cloud and insert it in the hash map
-  feature_hash_map_->clear ();
-  unsigned int n = static_cast<unsigned int> (sqrt (static_cast<float> (feature_cloud->points.size ())));
-  int d1, d2, d3, d4;
-  max_dist_ = -1.0;
-  alpha_m_.resize (n);
-  for (size_t i = 0; i < n; ++i)
-  {
-    std::vector <float> alpha_m_row (n);
-    for (size_t j = 0; j < n; ++j)
-    {
-      d1 = static_cast<int> (floor (feature_cloud->points[i*n+j].f1 / angle_discretization_step_));
-      d2 = static_cast<int> (floor (feature_cloud->points[i*n+j].f2 / angle_discretization_step_));
-      d3 = static_cast<int> (floor (feature_cloud->points[i*n+j].f3 / angle_discretization_step_));
-      d4 = static_cast<int> (floor (feature_cloud->points[i*n+j].f4 / distance_discretization_step_));
-      feature_hash_map_->insert (std::pair<HashKeyStruct, std::pair<size_t, size_t> > (HashKeyStruct (d1, d2, d3, d4), std::pair<size_t, size_t> (i, j)));
-      alpha_m_row [j] = feature_cloud->points[i*n + j].alpha_m;
-
-      if (max_dist_ < feature_cloud->points[i*n + j].f4)
-        max_dist_ = feature_cloud->points[i*n + j].f4;
-    }
-    alpha_m_[i] = alpha_m_row;
-  }
-
-  internals_initialized_ = true;
-}
-
-
-//////////////////////////////////////////////////////////////////////////////////////////////
-void
-pcl::PPFHashMapSearch::nearestNeighborSearch (float &f1, float &f2, float &f3, float &f4,
-                                              std::vector<std::pair<size_t, size_t> > &indices)
-{
-  if (!internals_initialized_)
-  {
-    PCL_ERROR("[pcl::PPFRegistration::nearestNeighborSearch]: input feature cloud has not been set - skipping search!\n");
-    return;
-  }
-
-  int d1 = static_cast<int> (floor (f1 / angle_discretization_step_)),
-      d2 = static_cast<int> (floor (f2 / angle_discretization_step_)),
-      d3 = static_cast<int> (floor (f3 / angle_discretization_step_)),
-      d4 = static_cast<int> (floor (f4 / distance_discretization_step_));
-
-  indices.clear ();
-  HashKeyStruct key = HashKeyStruct (d1, d2, d3, d4);
-  std::pair <FeatureHashMapType::iterator, FeatureHashMapType::iterator> map_iterator_pair = feature_hash_map_->equal_range (key);
-  for (; map_iterator_pair.first != map_iterator_pair.second; ++ map_iterator_pair.first)
-    indices.push_back (std::pair<size_t, size_t> (map_iterator_pair.first->second.first,
-                                                  map_iterator_pair.first->second.second));
-}
-
-
 //////////////////////////////////////////////////////////////////////////////////////////////
 template <typename PointSource, typename PointTarget> void
 pcl::PPFRegistration<PointSource, PointTarget>::setInputTarget (const PointCloudTargetConstPtr &cloud)

diff --git a/registration/include/pcl/registration/ppf_registration.h b/registration/include/pcl/registration/ppf_registration.h
@@ -285,7 +285,7 @@ namespace pcl
                               Eigen::Affine3f &pose2);
   };
 }
-
+#ifdef PCL_NO_PRECOMPILE
 #include <pcl/registration/impl/ppf_registration.hpp>
-
+#endif // PCL_NO_PRECOMPILE
 #endif // PCL_PPF_REGISTRATION_H_
diff --git a/registration/src/ppf_registration.cpp b/registration/src/ppf_registration.cpp
@@ -35,12 +35,67 @@
  * $Id$
  *
  */
+#include <pcl/registration/ppf_registration.h>
+
+#ifndef PCL_NO_PRECOMPILE
+#include <pcl/point_types.h>
+#include <pcl/impl/instantiate.hpp>
+#include <pcl/registration/impl/ppf_registration.hpp>
 
-/** Re-enable these once all of registration is separated into H/HPP correctly. */
-//#include <pcl/point_types.h>
-//#include <pcl/impl/instantiate.hpp>
-//#include <pcl/registration/ppf_registration.h>
-//#include <pcl/registration/impl/ppf_registration.hpp>
-//
-//PCL_INSTANTIATE_PRODUCT(PPFRegistration, (PCL_XYZ_POINT_TYPES)(PCL_NORMAL_POINT_TYPES));
-//
+PCL_INSTANTIATE_PRODUCT(PPFRegistration, (PCL_XYZ_POINT_TYPES)(PCL_NORMAL_POINT_TYPES));
+#endif    // PCL_NO_PRECOMPILE
+
+void
+pcl::PPFHashMapSearch::setInputFeatureCloud (PointCloud<PPFSignature>::ConstPtr feature_cloud)
+{
+  // Discretize the feature cloud and insert it in the hash map
+  feature_hash_map_->clear ();
+  unsigned int n = static_cast<unsigned int> (sqrt (static_cast<float> (feature_cloud->points.size ())));
+  int d1, d2, d3, d4;
+  max_dist_ = -1.0;
+  alpha_m_.resize (n);
+  for (size_t i = 0; i < n; ++i)
+  {
+    std::vector <float> alpha_m_row (n);
+    for (size_t j = 0; j < n; ++j)
+    {
+      d1 = static_cast<int> (floor (feature_cloud->points[i*n+j].f1 / angle_discretization_step_));
+      d2 = static_cast<int> (floor (feature_cloud->points[i*n+j].f2 / angle_discretization_step_));
+      d3 = static_cast<int> (floor (feature_cloud->points[i*n+j].f3 / angle_discretization_step_));
+      d4 = static_cast<int> (floor (feature_cloud->points[i*n+j].f4 / distance_discretization_step_));
+      feature_hash_map_->insert (std::pair<HashKeyStruct, std::pair<size_t, size_t> > (HashKeyStruct (d1, d2, d3, d4), std::pair<size_t, size_t> (i, j)));
+      alpha_m_row [j] = feature_cloud->points[i*n + j].alpha_m;
+
+      if (max_dist_ < feature_cloud->points[i*n + j].f4)
+        max_dist_ = feature_cloud->points[i*n + j].f4;
+    }
+    alpha_m_[i] = alpha_m_row;
+  }
+
+  internals_initialized_ = true;
+}
+
+
+//////////////////////////////////////////////////////////////////////////////////////////////
+void
+pcl::PPFHashMapSearch::nearestNeighborSearch (float &f1, float &f2, float &f3, float &f4,
+                                              std::vector<std::pair<size_t, size_t> > &indices)
+{
+  if (!internals_initialized_)
+  {
+    PCL_ERROR("[pcl::PPFRegistration::nearestNeighborSearch]: input feature cloud has not been set - skipping search!\n");
+    return;
+  }
+
+  int d1 = static_cast<int> (floor (f1 / angle_discretization_step_)),
+      d2 = static_cast<int> (floor (f2 / angle_discretization_step_)),
+      d3 = static_cast<int> (floor (f3 / angle_discretization_step_)),
+      d4 = static_cast<int> (floor (f4 / distance_discretization_step_));
+
+  indices.clear ();
+  HashKeyStruct key = HashKeyStruct (d1, d2, d3, d4);
+  std::pair <FeatureHashMapType::iterator, FeatureHashMapType::iterator> map_iterator_pair = feature_hash_map_->equal_range (key);
+  for (; map_iterator_pair.first != map_iterator_pair.second; ++ map_iterator_pair.first)
+    indices.push_back (std::pair<size_t, size_t> (map_iterator_pair.first->second.first,
+                                                  map_iterator_pair.first->second.second));
+}