Update the OpenMP implementations of normal and FPFH estimation #2278
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The gcc build of normal_3d_omp.hpp failed, although the code is the same as in normal_3d.hpp (besides the #pragma omp and type of idx, but I have that already ruled out). |
Merged the changes in 032f321 to the OMP version of the NormalEstimation
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I have fixed the gcc/clang build and squashed my commits. |
taketwo
approved these changes
Apr 17, 2018
| @@ -62,7 +62,8 @@ pcl::FPFHEstimationOMP<PointInT, PointNT, PointOutT>::computeFeature (PointCloud | |||
| for (size_t idx = 0; idx < indices_->size (); ++idx) | |||
| { | |||
| int p_idx = (*indices_)[idx]; | |||
| if (this->searchForNeighbors (p_idx, search_parameter_, nn_indices, nn_dists) == 0) | |||
| if (!isFinite((*input_)[p_idx]) || | |||
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Please add a space between function name and braces to match PCL style. Also in the hunk below.
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Hi Sergey, I have added a space after each of the two calls to isFinite.
Check for NaN/Inf to avoid assertion in kdtree search
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The OpenMP implementations in the "features" module are missing bug fixes which have already been applied to the standard implementations some time ago.
This PR fixes two issues: