test adapted to pcl 1.7

some commented (old) code removed from ear_clipping (within method isInsideTriangle)
PointCloudLibrary · Oct 10, 2013 · 09882a8 · 09882a8
1 parent 2c8520c
commit 09882a8
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Showing 3 changed files with 1 addition and 20 deletions.
diff --git a/surface/include/pcl/surface/ear_clipping.h b/surface/include/pcl/surface/ear_clipping.h
@@ -111,18 +111,6 @@ namespace pcl
                         const Eigen::Vector3f& w,
                         const Eigen::Vector3f& p);
 
-      /*bool 
-      sameSide (const Eigen::Vector3f &p1, const Eigen::Vector3f &p2, const Eigen::Vector3f &a, const Eigen::Vector3f &b) const
-      {
-          Eigen::Vector3f cp1 = (b-a).cross(p1-a);
-          Eigen::Vector3f cp2 = (b-a).cross(p2-a);
-          if (cp1.dot(cp2) >= 0)
-            return true;
-          else
-            return false;
-      }*/
-
-
       /** \brief Compute the cross product between 2D vectors.
        * \param[in] p1 the first 2D vector
        * \param[in] p2 the first 2D vector

diff --git a/surface/src/ear_clipping.cpp b/surface/src/ear_clipping.cpp
@@ -186,7 +186,6 @@ pcl::EarClipping::isInsideTriangle (const Eigen::Vector3f& u,
                                     const Eigen::Vector3f& w,
                                     const Eigen::Vector3f& p)
 {
-  // Method 1 (faster):
   // see http://www.blackpawn.com/texts/pointinpoly/default.html
   // Barycentric Coordinates
   Eigen::Vector3f v0 = w - u;
@@ -207,11 +206,5 @@ pcl::EarClipping::isInsideTriangle (const Eigen::Vector3f& u,
 
   // Check if point is in triangle
   return (a >= 0) && (b >= 0) && (a + b < 1);
-
-  // Method 2:
-  /*if (sameSide(p,u,v,w) && sameSide(p,v,u,w) && sameSide(p,w,u,v))
-    return (true);
-  else
-    return (false); */
 }
 
diff --git a/test/surface/test_ear_clipping.cpp b/test/surface/test_ear_clipping.cpp
@@ -146,7 +146,7 @@ TEST (PCL, EarClippingCubeTest)
                            {2, 3, 1} };
 
   PolygonMesh::Ptr mesh (new PolygonMesh);
-  toROSMsg (*cloud, mesh->cloud);
+  toPCLPointCloud2 (*cloud, mesh->cloud);
 
   for (int i = 0; i < 6; ++i)
   {