Add a common function called transformPointWithNormal #908
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| ret.normal_x = static_cast<float> (transform (0, 0) * point.normal_x + transform (0, 1) * point.normal_y + transform (0, 2) * point.normal_z); | ||
| ret.normal_y = static_cast<float> (transform (1, 0) * point.normal_x + transform (1, 1) * point.normal_y + transform (1, 2) * point.normal_z); | ||
| ret.normal_z = static_cast<float> (transform (2, 0) * point.normal_x + transform (2, 1) * point.normal_y + transform (2, 2) * point.normal_z); |
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Can't we use matrix multiplications here? I.e. obtain xyz values as an Eigen vector via getVector3fMap() and multiply with the transform matrix? The same for normals.
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Yes, we can also use matrix multiplication.
I just copied the similar code in transformPoint here for consistency.
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We could update transformPoint as well ;)
Matrix multiplication is faster and makes more obvious what's going on.
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Ok, then I could update both functions.
By the way, it's so strange why this pull request cannot pass the Travis,
and I can't find clues in the output information. https://travis-ci.org/PointCloudLibrary/pcl/jobs/35188356
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Unfortunately Travis became almost useless for us in the recent months. Compilation often fails not because of errors in code but because their machines can not fulfill memory/computational demands... So do not be intimidated by these red crosses.
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Oh, I see. So I have modified the code to use Eigen's matrix multiplication, both in transformPoint and transformPointWithNormal. And the unit test is also passed.
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Actually I already asked Radu about this here. His reply suggested we need some more investigation as to find out what is faster nowadays. |
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Thanks! |
Add a common function called transformPointWithNormal
This is a simple but common function and has passed the unit test.