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ensure 3d points' 4th coordinate is set to 1 #6362

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ensure 3d points' 4th coordinate is set to 1 #6362

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51 changes: 26 additions & 25 deletions common/include/pcl/impl/point_types.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -165,7 +165,7 @@ namespace pcl
namespace traits
{
template<typename FeaturePointT> struct descriptorSize {};

template<> struct descriptorSize<PFHSignature125> { static constexpr const int value = 125; };
template<> struct descriptorSize<PFHRGBSignature250> { static constexpr const int value = 250; };
template<> struct descriptorSize<ShapeContext1980> { static constexpr const int value = 1980; };
Expand All @@ -189,7 +189,7 @@ namespace pcl
static constexpr int descriptorSize_v = descriptorSize<FeaturePointT>::value;
}
}

using Vector2fMap = Eigen::Map<Eigen::Vector2f>;
using Vector2fMapConst = const Eigen::Map<const Eigen::Vector2f>;
using Array3fMap = Eigen::Map<Eigen::Array3f>;
Expand All @@ -215,6 +215,8 @@ namespace pcl
float x; \
float y; \
float z; \
/* ensure last homogeneous component is 1 for affine transformations */ \
float _w = 1; \
}; \
};

Expand Down Expand Up @@ -460,7 +462,7 @@ namespace pcl
inline constexpr PointXYZI (float _intensity = 0.f) : PointXYZI(0.f, 0.f, 0.f, _intensity) {}

inline constexpr PointXYZI (float _x, float _y, float _z, float _intensity = 0.f) : _PointXYZI{{{_x, _y, _z, 1.0f}}, {{_intensity}}} {}

friend std::ostream& operator << (std::ostream& os, const PointXYZI& p);
};

Expand Down Expand Up @@ -689,7 +691,7 @@ namespace pcl
PCL_EXPORTS std::ostream& operator << (std::ostream& os, const PointXYZHSV& p);
struct EIGEN_ALIGN16 PointXYZHSV : public _PointXYZHSV
{
inline constexpr PointXYZHSV (const _PointXYZHSV &p) :
inline constexpr PointXYZHSV (const _PointXYZHSV &p) :
PointXYZHSV{p.x, p.y, p.z, p.h, p.s, p.v} {}

inline constexpr PointXYZHSV (): PointXYZHSV (0.f, 0.f, 0.f) {}
Expand All @@ -714,10 +716,10 @@ namespace pcl
// NOLINTBEGIN(modernize-use-default-member-init)
struct PointXY
{
union
{
float data[2];
struct
union
{
float data[2];
struct
{
float x;
float y;
Expand All @@ -729,7 +731,7 @@ namespace pcl

inline pcl::Vector2fMap getVector2fMap () { return (pcl::Vector2fMap (data)); }
inline pcl::Vector2fMapConst getVector2fMap () const { return (pcl::Vector2fMapConst (data)); }

friend std::ostream& operator << (std::ostream& os, const PointXY& p);
};
// NOLINTEND(modernize-use-default-member-init)
Expand Down Expand Up @@ -929,17 +931,17 @@ namespace pcl
inline constexpr PointXYZRGBNormal (float _x, float _y, float _z, std::uint8_t _r, std::uint8_t _g, std::uint8_t _b,
float n_x, float n_y, float n_z, float _curvature = 0.f) :
_PointXYZRGBNormal{
{{_x, _y, _z, 1.0f}},
{{n_x, n_y, n_z, 0.0f}},
{{_x, _y, _z, 1.0f}},
{{n_x, n_y, n_z, 0.0f}},
{{ {{{_b, _g, _r, 255u}}}, _curvature }}
}
{}

inline constexpr PointXYZRGBNormal (float _x, float _y, float _z, std::uint8_t _r, std::uint8_t _g, std::uint8_t _b,
std::uint8_t _a, float n_x, float n_y, float n_z, float _curvature = 0.f) :
_PointXYZRGBNormal{
{{_x, _y, _z, 1.0f}},
{{n_x, n_y, n_z, 0.0f}},
{{_x, _y, _z, 1.0f}},
{{n_x, n_y, n_z, 0.0f}},
{{ {{{_b, _g, _r, _a}}}, _curvature }}
}
{}
Expand Down Expand Up @@ -981,8 +983,8 @@ namespace pcl
inline constexpr PointXYZINormal (float _x, float _y, float _z, float _intensity,
float n_x, float n_y, float n_z, float _curvature = 0.f) :
_PointXYZINormal{
{{_x, _y, _z, 1.0f}},
{{n_x, n_y, n_z, 0.0f}},
{{_x, _y, _z, 1.0f}},
{{n_x, n_y, n_z, 0.0f}},
{{_intensity, _curvature}}
}
{}
Expand Down Expand Up @@ -1024,11 +1026,11 @@ namespace pcl
inline constexpr PointXYZLNormal (float _x, float _y, float _z, std::uint32_t _label,
float n_x, float n_y, float n_z, float _curvature = 0.f) :
_PointXYZLNormal{
{{_x, _y, _z, 1.0f}},
{{n_x, n_y, n_z, 0.0f}},
{{_x, _y, _z, 1.0f}},
{{n_x, n_y, n_z, 0.0f}},
{{_label, _curvature}}
}
{}
{}

friend std::ostream& operator << (std::ostream& os, const PointXYZLNormal& p);
};
Expand Down Expand Up @@ -1636,7 +1638,7 @@ namespace pcl
inline constexpr PointWithScale (float _x, float _y, float _z, float _scale = 1.f,
float _angle = -1.f, float _response = 0.f, int _octave = 0) :
_PointWithScale{{{_x, _y, _z, 1.0f}}, {_scale}, _angle, _response, _octave } {}

friend std::ostream& operator << (std::ostream& os, const PointWithScale& p);
};

Expand Down Expand Up @@ -1673,11 +1675,11 @@ namespace pcl
PointSurfel{0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0u, 0u, 0u, 0u, 0.0f, 0.0f, 0.0f} {}

inline constexpr PointSurfel (float _x, float _y, float _z, float _nx,
float _ny, float _nz, std::uint8_t _r, std::uint8_t _g, std::uint8_t _b, std::uint8_t _a,
float _ny, float _nz, std::uint8_t _r, std::uint8_t _g, std::uint8_t _b, std::uint8_t _a,
float _radius, float _confidence, float _curvature) :
_PointSurfel{
{{_x, _y, _z, 1.0f}},
{{_nx, _ny, _nz, 0.0f}},
{{_x, _y, _z, 1.0f}},
{{_nx, _ny, _nz, 0.0f}},
{{{{{_b, _g, _r, _a}}}, _radius, _confidence, _curvature}}
} {}

Expand All @@ -1702,15 +1704,15 @@ namespace pcl
{
inline constexpr PointDEM (const _PointDEM &p) :
PointDEM{p.x, p.y, p.z, p.intensity, p.intensity_variance, p.height_variance} {}

inline constexpr PointDEM (): PointDEM (0.f, 0.f, 0.f) {}

inline constexpr PointDEM (float _x, float _y, float _z): PointDEM (_x, _y, _z, 0.f, 0.f, 0.f) {}

inline constexpr PointDEM (float _x, float _y, float _z, float _intensity,
float _intensity_variance, float _height_variance) :
_PointDEM{{{_x, _y, _z, 1.0f}}, _intensity, _intensity_variance, _height_variance} {}

friend std::ostream& operator << (std::ostream& os, const PointDEM& p);
};

Expand Down Expand Up @@ -2294,4 +2296,3 @@ namespace traits
#endif

} // namespace pcl

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