object_model.hpp

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/* \author Bastian Steder */

namespace pcl {

template <typename FeatureType>
inline void ObjectModel::freeFeatureListMemory(std::vector<std::vector<FeatureType*>*>& feature_list)
{
  for (unsigned int i=0; i<feature_list.size(); ++i)
  {
    std::vector<FeatureType*>& features = *feature_list[i];
    for (unsigned int j=0; j<features.size(); ++j)
    {
      delete features[j];
    }
    delete &features;
  }
  feature_list.clear();
}

inline int ObjectModel::getClosestValidationPointViewIdx(const Eigen::Affine3f& pose) const
{
  Eigen::Vector3f direction1 = (pose.translation() - center_).normalized();
  float best_cos_angle = -1.0f;
  int closest_idx = -1;
  for (unsigned int i=0; i<views_for_validation_points_.size(); ++i)
  {
    Eigen::Vector3f direction2 = (views_for_validation_points_[i].getTransformationToWorldSystem().translation() - center_).normalized();
    float cos_angle = direction1.dot(direction2);
    if (cos_angle > best_cos_angle)
    {
      best_cos_angle = cos_angle;
      closest_idx = i;
    }
  }
  return closest_idx;
}



} // namespace end