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Transform classic loops to range-based for loops in module people #2849

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merged 2 commits into from
Mar 8, 2019
Merged

Transform classic loops to range-based for loops in module people #2849

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ac4c103
Transform classic loops to range-based for loops in module people
Feb 9, 2019
91ea981
Use always const reference in for-ranged loop instead of copying prim…
Mar 7, 2019
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6 changes: 3 additions & 3 deletions people/apps/main_ground_based_people_detection.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -221,12 +221,12 @@ int main (int argc, char** argv)
pcl::visualization::PointCloudColorHandlerRGBField<PointT> rgb(cloud);
viewer.addPointCloud<PointT> (cloud, rgb, "input_cloud");
unsigned int k = 0;
for(std::vector<pcl::people::PersonCluster<PointT> >::iterator it = clusters.begin(); it != clusters.end(); ++it)
for(auto &cluster : clusters)
{
if(it->getPersonConfidence() > min_confidence) // draw only people with confidence above a threshold
if(cluster.getPersonConfidence() > min_confidence) // draw only people with confidence above a threshold
{
// draw theoretical person bounding box in the PCL viewer:
it->drawTBoundingBox(viewer, k);
cluster.drawTBoundingBox(viewer, k);
k++;
}
}
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10 changes: 5 additions & 5 deletions people/include/pcl/people/impl/head_based_subcluster.hpp
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Expand Up @@ -172,13 +172,13 @@ pcl::people::HeadBasedSubclustering<PointT>::mergeClustersCloseInFloorCoordinate
// Copy cluster points into new cluster:
pcl::PointIndices point_indices;
point_indices = input_clusters[i].getIndices();
for(size_t j = 0; j < connected_clusters[i].size(); j++)
for(const int &cluster : connected_clusters[i])
{
if (!used_clusters[connected_clusters[i][j]]) // if this cluster has not been used yet
if (!used_clusters[cluster]) // if this cluster has not been used yet
{
used_clusters[connected_clusters[i][j]] = true;
for(std::vector<int>::const_iterator points_iterator = input_clusters[connected_clusters[i][j]].getIndices().indices.begin();
points_iterator != input_clusters[connected_clusters[i][j]].getIndices().indices.end(); points_iterator++)
used_clusters[cluster] = true;
for(std::vector<int>::const_iterator points_iterator = input_clusters[cluster].getIndices().indices.begin();
points_iterator != input_clusters[cluster].getIndices().indices.end(); points_iterator++)
{
point_indices.indices.push_back(*points_iterator);
}
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