Merge pull request #2565 from PDAL/native-icp-const

Native ICP constness
PDAL · Jun 11, 2019 · 89dda35 · 89dda35
2 parents d668d6e + 186ba52
commit 89dda35
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Showing 4 changed files with 23 additions and 23 deletions.
diff --git a/pdal/EigenUtils.cpp b/pdal/EigenUtils.cpp
@@ -52,7 +52,7 @@ namespace pdal
 #pragma warning (push)
 #pragma warning (disable: 4244)
 
-void calculateBounds(PointView& view, BOX2D& output)
+void calculateBounds(const PointView& view, BOX2D& output)
 {
     for (PointId idx = 0; idx < view.size(); idx++)
     {
@@ -64,7 +64,7 @@ void calculateBounds(PointView& view, BOX2D& output)
 }
 
 
-void calculateBounds(PointView& view, BOX3D& output)
+void calculateBounds(const PointView& view, BOX3D& output)
 {
     for (PointId idx = 0; idx < view.size(); idx++)
     {
@@ -76,7 +76,7 @@ void calculateBounds(PointView& view, BOX3D& output)
     }
 }
 
-PointViewPtr demeanPointView(PointView& view)
+PointViewPtr demeanPointView(const PointView& view)
 {
     using namespace Eigen;
     using namespace Dimension;
@@ -98,7 +98,7 @@ PointViewPtr demeanPointView(PointView& view)
     return outView;
 }
 
-PointViewPtr demeanPointView(PointView& view, double* centroid)
+PointViewPtr demeanPointView(const PointView& view, double* centroid)
 {
     using namespace Eigen;
     using namespace Dimension;
@@ -117,7 +117,7 @@ PointViewPtr demeanPointView(PointView& view, double* centroid)
     return outView;
 }
 
-PointViewPtr transform(PointView& view, double* matrix)
+PointViewPtr transform(const PointView& view, double* matrix)
 {
     using namespace Dimension;
 
@@ -156,7 +156,7 @@ void transformInPlace(PointView& view, double* matrix)
     }
 }
 
-Eigen::Vector3d computeCentroid(PointView& view,
+Eigen::Vector3d computeCentroid(const PointView& view,
     const std::vector<PointId>& ids)
 {
     using namespace Eigen;
@@ -185,7 +185,7 @@ Eigen::Vector3d computeCentroid(PointView& view,
     return centroid;
 }
 
-Eigen::Matrix3d computeCovariance(PointView& view,
+Eigen::Matrix3d computeCovariance(const PointView& view,
     const std::vector<PointId>& ids)
 {
     using namespace Eigen;
@@ -214,7 +214,7 @@ Eigen::Matrix3d computeCovariance(PointView& view,
     return A * A.transpose() / (ids.size()-1);
 }
 
-uint8_t computeRank(PointView& view, const std::vector<PointId>& ids,
+uint8_t computeRank(const PointView& view, const std::vector<PointId>& ids,
     double threshold)
 {
     using namespace Eigen;
@@ -227,7 +227,7 @@ uint8_t computeRank(PointView& view, const std::vector<PointId>& ids,
     return static_cast<uint8_t>(svd.rank());
 }
 
-Eigen::MatrixXd extendedLocalMinimum(PointView& view, int rows, int cols,
+Eigen::MatrixXd extendedLocalMinimum(const PointView& view, int rows, int cols,
                                      double cell_size, BOX2D bounds)
 {
     using namespace Dimension;

diff --git a/pdal/EigenUtils.hpp b/pdal/EigenUtils.hpp
@@ -60,12 +60,12 @@ typedef std::shared_ptr<PointView> PointViewPtr;
         method. Otherwise, an exception will be thrown.
     \endverbatim
 */
-PDAL_DLL void calculateBounds(PointView& view, BOX2D& box);
-PDAL_DLL void calculateBounds(PointView& view, BOX3D& box);
+PDAL_DLL void calculateBounds(const PointView& view, BOX2D& box);
+PDAL_DLL void calculateBounds(const PointView& view, BOX3D& box);
 
-PDAL_DLL PointViewPtr demeanPointView(PointView& view);
-PDAL_DLL PointViewPtr demeanPointView(PointView& ,double* centroid);
-PDAL_DLL PointViewPtr transform(PointView&, double* matrix);
+PDAL_DLL PointViewPtr demeanPointView(const PointView& view);
+PDAL_DLL PointViewPtr demeanPointView(const PointView& ,double* centroid);
+PDAL_DLL PointViewPtr transform(const PointView&, double* matrix);
 PDAL_DLL void transformInPlace(PointView&, double* matrix);
 
 /**
@@ -90,7 +90,7 @@ PDAL_DLL void transformInPlace(PointView&, double* matrix);
   \param ids a vector of PointIds specifying a subset of points.
   \return the 3D centroid of the XYZ dimensions.
 */
-PDAL_DLL Eigen::Vector3d computeCentroid(PointView& view,
+PDAL_DLL Eigen::Vector3d computeCentroid(const PointView& view,
     const std::vector<PointId>& ids);
 
 /**
@@ -115,7 +115,7 @@ PDAL_DLL Eigen::Vector3d computeCentroid(PointView& view,
   \param ids a vector of PointIds specifying a subset of points.
   \return the covariance matrix of the XYZ dimensions.
 */
-PDAL_DLL Eigen::Matrix3d computeCovariance(PointView& view,
+PDAL_DLL Eigen::Matrix3d computeCovariance(const PointView& view,
     const std::vector<PointId>& ids);
 
 /**
@@ -147,8 +147,8 @@ PDAL_DLL Eigen::Matrix3d computeCovariance(PointView& view,
   \param ids a vector of PointIds specifying a subset of points.
   \return the estimated rank.
 */
-PDAL_DLL uint8_t computeRank(PointView& view, const std::vector<PointId>& ids,
-                             double threshold);
+PDAL_DLL uint8_t computeRank(const PointView& view,
+        const std::vector<PointId>& ids, double threshold);
 
 /**
   Find local minimum elevations by extended local minimum.
@@ -168,7 +168,7 @@ PDAL_DLL uint8_t computeRank(PointView& view, const std::vector<PointId>& ids,
   \param bounds the 2D bounds of the PointView.
   \return the matrix of minimum Z values (ignoring low outliers).
 */
-PDAL_DLL Eigen::MatrixXd extendedLocalMinimum(PointView& view, int rows,
+PDAL_DLL Eigen::MatrixXd extendedLocalMinimum(const PointView& view, int rows,
         int cols, double cell_size, BOX2D bounds);
 
 /**

diff --git a/pdal/KDIndex.hpp b/pdal/KDIndex.hpp
@@ -445,7 +445,7 @@ bool KDIndex<2>::kdtree_get_bbox(BBOX& bb) const
     else
     {
         BOX2D bounds;
-        calculateBounds(const_cast<PointView&>(m_buf), bounds);
+        calculateBounds(m_buf, bounds);
 
         bb[0].low = bounds.minx;
         bb[0].high = bounds.maxx;
@@ -471,7 +471,7 @@ bool KDIndex<3>::kdtree_get_bbox(BBOX& bb) const
     else
     {
         BOX3D bounds;
-        calculateBounds(const_cast<PointView&>(m_buf), bounds);
+        calculateBounds(m_buf, bounds);
 
         bb[0].low = bounds.minx;
         bb[0].high = bounds.maxx;

diff --git a/pdal/PointView.cpp b/pdal/PointView.cpp
@@ -101,13 +101,13 @@ void PointView::setFieldInternal(Dimension::Id dim, PointId idx,
 
 void PointView::calculateBounds(BOX2D& output) const
 {
-    pdal::calculateBounds(const_cast<PointView&>(*this), output);
+    pdal::calculateBounds(*this, output);
 }
 
 
 void PointView::calculateBounds(BOX3D& output) const
 {
-    pdal::calculateBounds(const_cast<PointView&>(*this), output);
+    pdal::calculateBounds(*this, output);
 }