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Various doxygen fixes

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1 parent f8fde2a commit 70d6897eb6edc8cc0a5b80e4777e8e54440cd595 @VictorLamoine VictorLamoine committed Apr 23, 2014
Showing with 679 additions and 634 deletions.
  1. +0 −1 2d/include/pcl/2d/edge.h
  2. +4 −4 2d/include/pcl/2d/kernel.h
  3. +1 −1 2d/include/pcl/2d/morphology.h
  4. +2 −2 common/include/pcl/common/centroid.h
  5. +3 −3 common/include/pcl/common/impl/pca.hpp
  6. +5 −5 common/include/pcl/common/intensity.h
  7. +5 −4 common/include/pcl/common/intersections.h
  8. +5 −0 common/include/pcl/common/io.h
  9. +1 −1 common/include/pcl/common/random.h
  10. +3 −1 common/include/pcl/range_image/bearing_angle_image.h
  11. +0 −1 common/include/pcl/range_image/range_image.h
  12. +0 −2 cuda/sample_consensus/include/pcl/cuda/sample_consensus/multi_ransac.h
  13. +6 −7 cuda/sample_consensus/include/pcl/cuda/sample_consensus/sac.h
  14. +30 −30 cuda/sample_consensus/include/pcl/cuda/sample_consensus/sac_model.h
  15. +1 −0 cuda/sample_consensus/include/pcl/cuda/sample_consensus/sac_model_1point_plane.h
  16. +36 −35 cuda/sample_consensus/include/pcl/cuda/sample_consensus/sac_model_plane.h
  17. +7 −6 doc/doxygen/doxyfile.in
  18. +1 −1 doc/tutorials/content/adding_custom_ptype.rst
  19. +3 −3 doc/tutorials/content/compiling_pcl_dependencies_windows.rst
  20. +4 −4 doc/tutorials/content/compiling_pcl_macosx.rst
  21. +2 −2 doc/tutorials/content/compiling_pcl_windows.rst
  22. +1 −1 doc/tutorials/content/fpfh_estimation.rst
  23. +1 −1 doc/tutorials/content/gpu_install.rst
  24. +2 −2 doc/tutorials/content/implicit_shape_model.rst
  25. +1 −1 doc/tutorials/content/mobile_streaming.rst
  26. +1 −1 doc/tutorials/content/moment_of_inertia.rst
  27. +1 −1 doc/tutorials/content/openni_grabber.rst
  28. +1 −1 doc/tutorials/content/pairwise_incremental_registration.rst
  29. +3 −3 doc/tutorials/content/pcl_plotter.rst
  30. +1 −1 doc/tutorials/content/pfh_estimation.rst
  31. +1 −1 doc/tutorials/content/planar_segmentation.rst
  32. +3 −3 doc/tutorials/content/rops_feature.rst
  33. +2 −2 doc/tutorials/content/template_alignment.rst
  34. +1 −1 doc/tutorials/content/vfh_estimation.rst
  35. +2 −2 doc/tutorials/content/vfh_recognition.rst
  36. +13 −13 doc/tutorials/content/walkthrough.rst
  37. +1 −1 features/features.doxy
  38. +5 −5 features/include/pcl/features/3dsc.h
  39. +2 −2 features/include/pcl/features/brisk_2d.h
  40. +1 −0 features/include/pcl/features/cvfh.h
  41. +1 −1 features/include/pcl/features/fpfh.h
  42. +1 −0 features/include/pcl/features/intensity_gradient.h
  43. +1 −0 features/include/pcl/features/our_cvfh.h
  44. +0 −1 features/include/pcl/features/shot.h
  45. +1 −5 features/include/pcl/features/shot_lrf.h
  46. +2 −4 filters/include/pcl/filters/convolution.h
  47. +1 −1 filters/include/pcl/filters/convolution_3d.h
  48. +1 −1 filters/include/pcl/filters/covariance_sampling.h
  49. +1 −1 filters/include/pcl/filters/local_maximum.h
  50. +1 −1 filters/include/pcl/filters/radius_outlier_removal.h
  51. +1 −1 filters/include/pcl/filters/shadowpoints.h
  52. +0 −1 filters/include/pcl/filters/statistical_outlier_removal.h
  53. +6 −3 filters/include/pcl/filters/voxel_grid_covariance.h
  54. +23 −20 filters/include/pcl/filters/voxel_grid_occlusion_estimation.h
  55. +7 −7 geometry/include/pcl/geometry/mesh_base.h
  56. +1 −0 geometry/include/pcl/geometry/mesh_indices.h
  57. +1 −0 geometry/include/pcl/geometry/polygon_operations.h
  58. +33 −33 gpu/containers/include/pcl/gpu/containers/device_array.h
  59. +27 −27 gpu/containers/include/pcl/gpu/containers/device_memory.h
  60. +2 −2 gpu/containers/include/pcl/gpu/containers/initialization.h
  61. +3 −2 gpu/kinfu/include/pcl/gpu/kinfu/kinfu.h
  62. +2 −2 gpu/kinfu/include/pcl/gpu/kinfu/marching_cubes.h
  63. +2 −2 gpu/kinfu/include/pcl/gpu/kinfu/raycaster.h
  64. +5 −5 gpu/kinfu/src/internal.h
  65. +4 −0 gpu/kinfu/tools/evaluation.h
  66. +3 −3 gpu/kinfu_large_scale/include/pcl/gpu/kinfu_large_scale/cyclical_buffer.h
  67. +2 −2 gpu/kinfu_large_scale/include/pcl/gpu/kinfu_large_scale/kinfu.h
  68. +1 −1 gpu/kinfu_large_scale/include/pcl/gpu/kinfu_large_scale/marching_cubes.h
  69. +2 −1 gpu/kinfu_large_scale/include/pcl/gpu/kinfu_large_scale/raycaster.h
  70. +3 −4 gpu/kinfu_large_scale/include/pcl/gpu/kinfu_large_scale/screenshot_manager.h
  71. +7 −7 gpu/kinfu_large_scale/include/pcl/gpu/kinfu_large_scale/standalone_marching_cubes.h
  72. +4 −2 gpu/kinfu_large_scale/include/pcl/gpu/kinfu_large_scale/tsdf_volume.h
  73. +7 −7 gpu/kinfu_large_scale/include/pcl/gpu/kinfu_large_scale/world_model.h
  74. +6 −6 gpu/kinfu_large_scale/src/internal.h
  75. +4 −0 gpu/kinfu_large_scale/tools/evaluation.h
  76. +1 −1 gpu/octree/include/pcl/gpu/octree/octree.hpp
  77. +16 −16 gpu/people/include/pcl/gpu/people/label_segment.h
  78. +3 −0 gpu/people/include/pcl/gpu/people/label_tree.h
  79. +4 −1 gpu/people/src/cuda/nvidia/NPP_staging.hpp
  80. +2 −1 gpu/segmentation/include/pcl/gpu/segmentation/gpu_seeded_hue_segmentation.h
  81. +1 −1 gpu/tracking/include/pcl/gpu/tracking/particle_filter.h
  82. +14 −14 io/include/pcl/compression/libpng_wrapper.h
  83. +2 −2 io/include/pcl/compression/octree_pointcloud_compression.h
  84. +1 −1 io/include/pcl/compression/organized_pointcloud_compression.h
  85. +3 −1 io/include/pcl/io/dinast_grabber.h
  86. +1 −1 io/include/pcl/io/file_io.h
  87. +4 −2 io/include/pcl/io/image_grabber.h
  88. +10 −9 io/include/pcl/io/lzf_image_io.h
  89. +2 −0 io/include/pcl/io/obj_io.h
  90. +3 −0 io/include/pcl/io/openni_camera/openni_device.h
  91. +3 −3 io/include/pcl/io/openni_grabber.h
  92. +1 −0 io/include/pcl/io/ply_io.h
  93. +4 −4 io/include/pcl/io/png_io.h
  94. +9 −9 io/include/pcl/io/point_cloud_image_extractors.h
  95. +4 −5 io/include/pcl/io/tar.h
  96. +2 −2 kdtree/include/pcl/kdtree/kdtree_flann.h
  97. +1 −1 kdtree/kdtree.doxy
  98. +2 −4 keypoints/include/pcl/keypoints/agast_2d.h
  99. +3 −0 keypoints/include/pcl/keypoints/harris_2d.h
  100. +0 −1 keypoints/include/pcl/keypoints/harris_6d.h
  101. +3 −3 keypoints/include/pcl/keypoints/iss_3d.h
  102. +2 −2 keypoints/include/pcl/keypoints/susan.h
  103. +3 −2 keypoints/include/pcl/keypoints/trajkovic_2d.h
  104. +1 −0 keypoints/include/pcl/keypoints/trajkovic_3d.h
  105. +1 −1 keypoints/keypoints.doxy
  106. +5 −5 ml/include/pcl/ml/dt/decision_forest.h
  107. +8 −8 ml/include/pcl/ml/dt/decision_forest_evaluator.h
  108. +3 −3 ml/include/pcl/ml/dt/decision_forest_trainer.h
  109. +2 −2 ml/include/pcl/ml/dt/decision_tree_trainer.h
  110. +5 −5 ml/include/pcl/ml/feature_handler.h
  111. +3 −3 ml/include/pcl/ml/ferns/fern_evaluator.h
  112. +3 −3 ml/include/pcl/ml/ferns/fern_trainer.h
  113. +0 −3 ml/include/pcl/ml/impl/kmeans.hpp
  114. +1 −1 ml/include/pcl/ml/kmeans.h
  115. +1 −1 ml/include/pcl/ml/permutohedral.h
  116. +2 −2 ml/include/pcl/ml/point_xy_32f.h
  117. +1 −1 octree/include/pcl/octree/octree2buf_base.h
  118. +2 −2 octree/include/pcl/octree/octree_iterator.h
  119. +1 −1 octree/include/pcl/octree/octree_pointcloud_adjacency_container.h
  120. +2 −3 octree/include/pcl/octree/octree_pointcloud_voxelcentroid.h
  121. +25 −19 outofcore/include/pcl/outofcore/octree_base.h
  122. +20 −16 outofcore/include/pcl/outofcore/octree_base_node.h
  123. +7 −7 outofcore/include/pcl/outofcore/octree_disk_container.h
  124. +1 −1 outofcore/include/pcl/outofcore/outofcore_breadth_first_iterator.h
  125. +1 −1 outofcore/include/pcl/outofcore/outofcore_depth_first_iterator.h
  126. +1 −1 outofcore/include/pcl/outofcore/outofcore_iterator_base.h
  127. +2 −2 people/include/pcl/people/head_based_subcluster.h
  128. +1 −1 people/include/pcl/people/person_cluster.h
  129. +6 −9 recognition/include/pcl/recognition/cg/hough_3d.h
  130. +2 −2 recognition/include/pcl/recognition/color_gradient_modality.h
  131. +5 −5 recognition/include/pcl/recognition/crh_alignment.h
  132. +5 −3 recognition/include/pcl/recognition/dotmod.h
  133. +11 −12 recognition/include/pcl/recognition/face_detection/rf_face_utils.h
  134. +1 −1 recognition/include/pcl/recognition/hv/greedy_verification.h
  135. +3 −4 recognition/include/pcl/recognition/implicit_shape_model.h
  136. +5 −2 recognition/include/pcl/recognition/linemod/line_rgbd.h
  137. +3 −3 recognition/include/pcl/recognition/ransac_based/model_library.h
  138. +4 −4 recognition/include/pcl/recognition/ransac_based/obj_rec_ransac.h
  139. +1 −8 recognition/include/pcl/recognition/surface_normal_modality.h
  140. +4 −2 registration/include/pcl/registration/correspondence_estimation_organized_projection.h
  141. +2 −2 registration/include/pcl/registration/correspondence_rejection_features.h
  142. +1 −1 registration/include/pcl/registration/correspondence_rejection_poly.h
  143. +2 −2 registration/include/pcl/registration/correspondence_rejection_surface_normal.h
  144. +1 −1 registration/include/pcl/registration/gicp.h
  145. +1 −0 registration/include/pcl/registration/ia_ransac.h
  146. +1 −1 registration/include/pcl/registration/icp.h
  147. +3 −7 registration/include/pcl/registration/joint_icp.h
  148. +1 −1 registration/include/pcl/registration/ndt.h
  149. +1 −0 registration/include/pcl/registration/sample_consensus_prerejective.h
  150. +4 −4 registration/include/pcl/registration/transformation_estimation_lm.h
  151. +1 −1 registration/include/pcl/registration/transformation_estimation_point_to_plane_lls.h
  152. +2 −1 registration/include/pcl/registration/transformation_estimation_point_to_plane_lls_weighted.h
  153. +4 −4 registration/include/pcl/registration/transformation_estimation_point_to_plane_weighted.h
  154. +1 −0 sample_consensus/include/pcl/sample_consensus/sac_model.h
  155. +1 −0 sample_consensus/include/pcl/sample_consensus/sac_model_registration.h
  156. +0 −2 sample_consensus/include/pcl/sample_consensus/sac_model_registration_2d.h
  157. +2 −2 search/include/pcl/search/flann_search.h
  158. +14 −14 segmentation/include/pcl/segmentation/crf_segmentation.h
  159. +2 −1 segmentation/include/pcl/segmentation/euclidean_cluster_comparator.h
  160. +1 −1 segmentation/include/pcl/segmentation/grabcut_segmentation.h
  161. +1 −2 segmentation/include/pcl/segmentation/region_growing.h
  162. +1 −0 segmentation/include/pcl/segmentation/region_growing_rgb.h
  163. +3 −1 segmentation/include/pcl/segmentation/sac_segmentation.h
  164. +1 −1 segmentation/include/pcl/segmentation/supervoxel_clustering.h
  165. +1 −1 stereo/include/pcl/stereo/stereo_grabber.h
  166. +1 −1 stereo/include/pcl/stereo/stereo_matching.h
  167. +9 −8 surface/include/pcl/surface/mls.h
  168. +2 −2 surface/include/pcl/surface/texture_mapping.h
  169. +1 −1 surface/include/pcl/surface/vtk_smoothing/vtk_mesh_quadric_decimation.h
  170. +1 −1 surface/include/pcl/surface/vtk_smoothing/vtk_mesh_smoothing_laplacian.h
  171. +1 −1 surface/include/pcl/surface/vtk_smoothing/vtk_mesh_smoothing_windowed_sinc.h
  172. +2 −0 surface/include/pcl/surface/vtk_smoothing/vtk_utils.h
  173. +1 −1 tracking/include/pcl/tracking/coherence.h
  174. +1 −1 tracking/include/pcl/tracking/nearest_pair_point_cloud_coherence.h
  175. +1 −1 tracking/include/pcl/tracking/particle_filter.h
  176. +4 −4 tracking/include/pcl/tracking/pyramidal_klt.h
  177. +1 −1 tracking/include/pcl/tracking/tracker.h
  178. +0 −2 visualization/include/pcl/visualization/common/shapes.h
  179. +2 −2 visualization/include/pcl/visualization/histogram_visualizer.h
  180. +2 −2 visualization/include/pcl/visualization/image_viewer.h
  181. +2 −2 visualization/include/pcl/visualization/interactor_style.h
  182. +2 −3 visualization/include/pcl/visualization/pcl_painter2D.h
  183. +6 −6 visualization/include/pcl/visualization/pcl_plotter.h
  184. +4 −1 visualization/include/pcl/visualization/pcl_visualizer.h
  185. +2 −2 visualization/include/pcl/visualization/window.h
  186. +1 −1 visualization/visualization.doxy
@@ -286,7 +286,6 @@ namespace pcl
computeDerivativeYBackward (pcl::PointCloud<PointOutT> &output);
/** \brief Override function to implement the pcl::Filter interface
- * \param output Output point cloud passed by reference
*/
void
applyFilter (pcl::PointCloud<PointOutT>& /*output*/) {}
@@ -112,7 +112,7 @@ namespace pcl
* 3x3 Sobel kernel in the X direction
*/
- void sobelKernelX (pcl::PointCloud<PointT> &Kernel);
+ void sobelKernelX (pcl::PointCloud<PointT> &kernel);
/**
*
@@ -121,7 +121,7 @@ namespace pcl
* 3x3 Prewitt kernel in the X direction
*/
- void prewittKernelX (pcl::PointCloud<PointT> &Kernel);
+ void prewittKernelX (pcl::PointCloud<PointT> &kernel);
/**
*
@@ -139,7 +139,7 @@ namespace pcl
* 3x3 Sobel kernel in the Y direction
*/
- void sobelKernelY (pcl::PointCloud<PointT> &Kernel);
+ void sobelKernelY (pcl::PointCloud<PointT> &kernel);
/**
*
@@ -148,7 +148,7 @@ namespace pcl
* 3x3 Prewitt kernel in the Y direction
*/
- void prewittKernelY (pcl::PointCloud<PointT> &Kernel);
+ void prewittKernelY (pcl::PointCloud<PointT> &kernel);
/**
*
@@ -135,7 +135,7 @@ namespace pcl
const pcl::PointCloud<PointT> &input1,
const pcl::PointCloud<PointT> &input2);
- /** \Set operation \f$ output = input1 \cap input2 \f$
+ /** \brief Set operation \f$ output = input1 \cap input2 \f$
* \param[out] output Output point cloud passed by reference
* \param[in] input1
* \param[in] input2
@@ -1111,9 +1111,9 @@ namespace pcl
PointOutT& centroid);
/** Compute the centroid of a set of points and return it as a point.
- *
+ * \param[in] cloud
* \param[in] indices point cloud indices that need to be used
- *
+ * \param[out] centroid
* This is an overloaded function provided for convenience. See the
* documentation for computeCentroid().
*
@@ -47,15 +47,15 @@
/////////////////////////////////////////////////////////////////////////////////////////
/** \brief Constructor with direct computation
- * \param[in] X input m*n matrix (ie n vectors of R(m))
+ * \param[in] cloud input m*n matrix (ie n vectors of R(m))
* \param[in] basis_only flag to compute only the PCA basis
*/
template<typename PointT>
-pcl::PCA<PointT>::PCA (const pcl::PointCloud<PointT>& X, bool basis_only)
+pcl::PCA<PointT>::PCA (const pcl::PointCloud<PointT> &cloud, bool basis_only)
{
Base ();
basis_only_ = basis_only;
- setInputCloud (X.makeShared ());
+ setInputCloud (cloud.makeShared ());
compute_done_ = initCompute ();
}
@@ -51,7 +51,7 @@ namespace pcl
struct IntensityFieldAccessor
{
/** \brief get intensity field
- * \param[in] point p
+ * \param[in] p point
* \return p.intensity
*/
inline float
@@ -60,7 +60,7 @@ namespace pcl
return p.intensity;
}
/** \brief gets the intensity value of a point
- * \param[in/out] p point for which intensity to be get
+ * \param p point for which intensity to be get
* \param[in] intensity value of the intensity field
*/
inline void
@@ -69,7 +69,7 @@ namespace pcl
intensity = p.intensity;
}
/** \brief sets the intensity value of a point
- * \param[in/out] p point for which intensity to be set
+ * \param p point for which intensity to be set
* \param[in] intensity value of the intensity field
*/
inline void
@@ -78,7 +78,7 @@ namespace pcl
p.intensity = intensity;
}
/** \brief subtract value from intensity field
- * \param[in/out] p point for which to modify inetnsity
+ * \param p point for which to modify inetnsity
* \param[in] value value to be subtracted from point intensity
*/
inline void
@@ -87,7 +87,7 @@ namespace pcl
p.intensity -= value;
}
/** \brief add value to intensity field
- * \param[in/out] p point for which to modify inetnsity
+ * \param p point for which to modify inetnsity
* \param[in] value value to be added to point intensity
*/
inline void
@@ -81,10 +81,11 @@ namespace pcl
/** \brief Determine the line of intersection of two non-parallel planes using lagrange multipliers
* \note Described in: "Intersection of Two Planes, John Krumm, Microsoft Research, Redmond, WA, USA"
* \param[in] plane_a coefficients of plane A and plane B in the form ax + by + cz + d = 0
- * \param[out] plane_b coefficients of line where line.tail<3>() = direction vector and
- * line.head<3>() the point on the line closest to (0, 0, 0)
+ * \param[in] plane_b coefficients of line where line.tail<3>() = direction vector and
+ * line.head<3>() the point on the line clossest to (0, 0, 0)
+ * \param[out] line the intersected line to be filled
+ * \param[in] angular_tolerance tolerance in radians
* \return true if succeeded/planes aren't parallel
- * \note Plane normal doesn't have to be normalized
*/
PCL_EXPORTS template <typename Scalar> bool
planeWithPlaneIntersection (const Eigen::Matrix<Scalar, 4, 1> &plane_a,
@@ -118,7 +119,7 @@ namespace pcl
* \param[in] plane_b are the coefficients of the second plane
* \param[in] plane_c are the coefficients of the third plane
* \param[in] determinant_tolerance is a limit to determine whether planes are parallel or not
- * \param[out] intersection_point, the three coordinates x, y, z of the intersection point
+ * \param[out] intersection_point the three coordinates x, y, z of the intersection point
* \return true if succeeded/planes aren't parallel
*/
PCL_EXPORTS template <typename Scalar> bool
@@ -402,6 +402,10 @@ namespace pcl
/** \brief Copy a point cloud inside a larger one interpolating borders.
* \param[in] cloud_in the input point cloud dataset
* \param[out] cloud_out the resultant output point cloud dataset
+ * \param top
+ * \param bottom
+ * \param left
+ * \param right
* Position of cloud_in inside cloud_out is given by \a top, \a left, \a bottom \a right.
* \param[in] border_type the interpolating method (pcl::BORDER_XXX)
* BORDER_REPLICATE: aaaaaa|abcdefgh|hhhhhhh
@@ -410,6 +414,7 @@ namespace pcl
* BORDER_WRAP: cdefgh|abcdefgh|abcdefg
* BORDER_CONSTANT: iiiiii|abcdefgh|iiiiiii with some specified 'i'
* BORDER_TRANSPARENT: mnopqr|abcdefgh|tuvwxyz where m-r and t-z are orignal values of cloud_out
+ * \param value
* \throw pcl::BadArgumentException if any of top, bottom, left or right is negative.
* \ingroup common
*/
@@ -109,7 +109,7 @@ namespace pcl
/** Constructor
* \param parameters uniform distribution parameters and generator seed
*/
- UniformGenerator(const Parameters& paramters);
+ UniformGenerator(const Parameters& parameters);
/** Change seed value
* \param[in] seed new generator seed value
@@ -69,7 +69,9 @@ namespace pcl
reset ();
/** \brief Calculate the angle between the laser beam and the segment joining two consecutive
- * \measurement points.
+ * measurement points.
+ * \param point1
+ * \param point2
*/
double
getAngle (const PointXYZ &point1, const PointXYZ &point2);
@@ -203,7 +203,6 @@ namespace pcl
* individual pixels in the image in the x-direction
* \param angular_resolution_y the angular difference (in radians) between the
* individual pixels in the image in the y-direction
- * \param angular_resolution the angle (in radians) between each sample in the depth image
* \param point_cloud_center the center of bounding sphere
* \param point_cloud_radius the radius of the bounding sphere
* \param sensor_pose an affine matrix defining the pose of the sensor (defaults to
@@ -143,7 +143,6 @@ namespace pcl
getAllInlierCounts () { return all_inlier_counts_; }
/** \brief Return the model coefficients of the best model found so far.
- * \param model_coefficients the resultant model coefficients
*/
inline std::vector<float4>
getAllModelCoefficients ()
@@ -152,7 +151,6 @@ namespace pcl
}
/** \brief Return the model coefficients of the best model found so far.
- * \param model_coefficients the resultant model coefficients
*/
inline std::vector<float3>
getAllModelCentroids ()
@@ -128,12 +128,12 @@ namespace pcl
virtual bool
computeModel (int debug_verbosity_level = 0) = 0;
- /** \brief Get a set of randomly selected indices.
+ /* \brief Get a set of randomly selected indices.
* \param indices the input indices vector
* \param nr_samples the desired number of point indices to randomly select
* \param indices_subset the resultant output set of randomly selected indices
*/
- /* inline void
+/* inline void
getRandomSamples (const IndicesPtr &indices, size_t nr_samples,
std::set<int> &indices_subset)
{
@@ -149,15 +149,14 @@ namespace pcl
getModel (Indices &model) { model = model_; }
/** \brief Return the best set of inliers found so far for this model.
- * \param inliers the resultant set of inliers
*/
- // inline void
- // getInliers (std::vector<int> &inliers) { inliers = inliers_; }
+ // inline void
+ // getInliers (std::vector<int> &inliers) { inliers = inliers_; }
inline IndicesPtr
getInliers () { return inliers_; }
- // inline void
- // getInliersStencil (Indices &inliers) { inliers = inliers_stencil_; }
+ // inline void
+ // getInliersStencil (Indices &inliers) { inliers = inliers_stencil_; }
inline IndicesPtr
getInliersStencil () { return inliers_stencil_; }
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