Compiling PCL 1.6 for android - patch

最新推荐文章于 2021-12-31 17:16:05 发布

原创最新推荐文章于 2021-12-31 17:16:05 发布 · 1k 阅读

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CC 4.0 BY-SA版权

本文探讨了PCL (Point Cloud Library) 和 VTK (Visualization Toolkit) 的源码变更细节，包括narf特征描述子计算中的改进及VTK编译配置的调整。这些更改提高了代码的可读性和效率。

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~/pcl-superbuild/build/CMakeExternals/Source/pcl$ git diff
diff --git a/features/src/narf.cpp b/features/src/narf.cpp
index 23d6813..6b99500 100644
--- a/features/src/narf.cpp
+++ b/features/src/narf.cpp
@@ -457,7 +457,7 @@ Narf::getRotations (std::vector<float>& rotations, std::vector<float>& strengths
{
float value = descriptor_[descriptor_value_idx];
float angle2 = static_cast<float> (descriptor_value_idx) * angle_step_size2;
- float distance_weight = powf (1.0f - fabsf (normAngle (angle - angle2)) / deg2rad (180.0f), 2.0f);
+ float distance_weight = std::pow (1.0f - fabsf (normAngle (angle - angle2)) / deg2rad (180.0f), 2.0f);

score += value * distance_weight;
}
diff --git a/keypoints/src/narf_keypoint.cpp b/keypoints/src/narf_keypoint.cpp
index c0daf88..6ae677f 100644
--- a/keypoints/src/narf_keypoint.cpp
+++ b/keypoints/src/narf_keypoint.cpp
@@ -132,7 +132,7 @@ namespace
float optimal_distance, float& negative_score, float& positive_score)
{
negative_score = 1.0f - 0.5f * surface_change_score * (std::max) (1.0f - distance_factor/optimal_distance, 0.0f);
- negative_score = powf (negative_score, 2);
+ negative_score = std::pow (negative_score, 2);

if (pixelDistance < 2.0)
positive_score = surface_change_score;
@@ -639,7 +639,7 @@ NarfKeypoint::calculateSparseInterestImage ()
if (do_neighbor_size_reduction)
{
float min_distance_between_relevant_points = 0.25f * search_radius,
- min_distance_between_relevant_points_squared = powf(min_distance_between_relevant_points, 2);
+ min_distance_between_relevant_points_squared = std::pow(min_distance_between_relevant_points, 2);
for (int angle_histogram_idx=0; angle_histogram_idx<angle_histogram_size; ++angle_histogram_idx)
{
std::vector<std::pair<int,float> >& relevent_point_indices = angle_elements[angle_histogram_idx];
@@ -745,7 +745,7 @@ NarfKeypoint::calculateInterestPoints ()

interest_points_ = new ::pcl::PointCloud<InterestPoint>;

- float max_distance_squared = powf (0.3f*parameters_.support_size, 2);
+ float max_distance_squared = std::pow (0.3f*parameters_.support_size, 2);

const RangeImage& range_image = range_image_border_extractor_->getRangeImage ();
const ::pcl::PointCloud<BorderDescription>& border_descriptions =
@@ -871,7 +871,7 @@ NarfKeypoint::calculateInterestPoints ()

std::sort (tmp_interest_points.begin (), tmp_interest_points.end (), isBetterInterestPoint);

- float min_distance_squared = powf (parameters_.min_distance_between_interest_points*parameters_.support_size, 2);
+ float min_distance_squared = std::pow (parameters_.min_distance_between_interest_points*parameters_.support_size, 2);
for (size_t int_point_idx=0; int_point_idx<tmp_interest_points.size (); ++int_point_idx)
{

if (parameters_.max_no_of_interest_points > 0 && int (interest_points_->size ()) >= parameters_.max_no_of_interest_points)

~/pcl-superbuild/build/CMakeExternals/Source/vtk$ git diff
diff --git a/CMake/GenerateExportHeader.cmake b/CMake/GenerateExportHeader.cmake
index e0897d4..ebbb741 100644
--- a/CMake/GenerateExportHeader.cmake
+++ b/CMake/GenerateExportHeader.cmake
@@ -174,7 +174,7 @@ macro(_test_compiler_hidden_visibility)
_gcc_version "${_gcc_version_info}")
endif()

- if(${_gcc_version} VERSION_LESS "4.2")
+ if(_gcc_version VERSION_LESS "4.2")
set(GCC_TOO_OLD TRUE)
endif()
endif()
diff --git a/CMake/vtkCompilerExtras.cmake b/CMake/vtkCompilerExtras.cmake
index 0b57437..f0bfffd 100644
--- a/CMake/vtkCompilerExtras.cmake
+++ b/CMake/vtkCompilerExtras.cmake
@@ -37,7 +37,7 @@ if(CMAKE_COMPILER_IS_GNUCXX)
option(VTK_USE_GCC_VISIBILITY "Use GCC visibility support if available." OFF)
mark_as_advanced(VTK_USE_GCC_VISIBILITY)

- if(${_gcc_version} VERSION_GREATER 4.2.0 AND BUILD_SHARED_LIBS
+ if(_gcc_version VERSION_GREATER 4.2.0 AND BUILD_SHARED_LIBS
AND HAVE_GCC_VISIBILITY AND VTK_USE_GCC_VISIBILITY
AND NOT MINGW AND NOT CYGWIN)
# Should only be set if GCC is newer than 4.2.0