Adding template parameter

Deduction using decltype is also possible but dangerous
PointCloudLibrary · Oct 25, 2019 · 552fa0f · 552fa0f
1 parent 750d464
commit 552fa0f
Showing 1 changed file with 5 additions and 5 deletions.
diff --git a/common/include/pcl/common/impl/eigen.hpp b/common/include/pcl/common/impl/eigen.hpp
@@ -257,7 +257,7 @@ struct EigenVector {
   Scalar length;
 };
 
-template <typename Matrix> static EigenVector<Matrix, typename Matrix::Scalar>
+template <typename Vector, typename Matrix> static EigenVector<Matrix, typename Matrix::Scalar>
 get_largest_3x3_eigenvector (const Matrix scaledMatrix)
 {
   std::array<Vector, 3> vector {scaledMatrix.row (0).cross (scaledMatrix.row (1)),
@@ -297,7 +297,7 @@ pcl::eigen33 (const Matrix& mat, typename Matrix::Scalar& eigenvalue, Vector& ei
 
   scaledMat.diagonal ().array () -= eigenvalues (0);
 
-  eigenvector = detail::get_largest_3x3_eigenvector(scaledMat).vector;
+  eigenvector = detail::get_largest_3x3_eigenvector<Vector> (scaledMat).vector;
 }
 
 //////////////////////////////////////////////////////////////////////////////////////////
@@ -343,7 +343,7 @@ pcl::eigen33 (const Matrix& mat, Matrix& evecs, Vector& evals)
     tmp = scaledMat;
     tmp.diagonal ().array () -= evals (2);
 
-    evecs.col (2) = detail::get_largest_3x3_eigenvector(tmp).vector;
+    evecs.col (2) = detail::get_largest_3x3_eigenvector<Vector> (tmp).vector;
     evecs.col (1) = evecs.col (2).unitOrthogonal ();
     evecs.col (0) = evecs.col (1).cross (evecs.col (2));
   }
@@ -354,7 +354,7 @@ pcl::eigen33 (const Matrix& mat, Matrix& evecs, Vector& evals)
     tmp = scaledMat;
     tmp.diagonal ().array () -= evals (0);
 
-    evecs.col (0) = detail::get_largest_3x3_eigenvector(tmp).vector;
+    evecs.col (0) = detail::get_largest_3x3_eigenvector<Vector> (tmp).vector;
     evecs.col (1) = evecs.col (0).unitOrthogonal ();
     evecs.col (2) = evecs.col (0).cross (evecs.col (1));
   }
@@ -366,7 +366,7 @@ pcl::eigen33 (const Matrix& mat, Matrix& evecs, Vector& evals)
     {
       Matrix tmp = scaledMat;
       tmp.diagonal ().array () -= evals (i);
-      const auto vec_len = detail::get_largest_3x3_eigenvector (tmp);
+      const auto vec_len = detail::get_largest_3x3_eigenvector<Vector> (tmp);
       evecs.col (i) = vec_len.vector;
       eigenVecLen[i] = vec_len.length;
     }