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Prefer C++ method std::acos over C method acos #3236

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Jul 19, 2019
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Prefer C++ method std::acos over C method acos #3236

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4 changes: 2 additions & 2 deletions apps/in_hand_scanner/src/visibility_confidence.cpp
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Expand Up @@ -114,7 +114,7 @@ pcl::ihs::addDirection (const Eigen::Vector4f& normal,
// TODO: The threshold is hard coded for a frequency=3.
// It can be calculated with
// - max_z = maximum z value of the dome vertices (excluding [0; 0; 1])
// - thresh = cos (acos (max_z) / 2)
// - thresh = cos (std::acos (max_z) / 2)
// - always round up!
// - with max_z = 0.939 -> thresh = 0.9847 ~ 0.985
if (dot <= .985f)
Expand All @@ -134,7 +134,7 @@ pcl::ihs::addDirection (const Eigen::Vector4f& normal,

// Find the closest viewing direction
// NOTE: cos (0deg) = 1 = max
// acos (angle) = dot (a, b) / (norm (a) * norm (b)
// std::acos (angle) = dot (a, b) / (norm (a) * norm (b)
// m_sphere_vertices are already normalized
unsigned int index = 0;
aligned_direction.transpose ().lazyProduct (pcl::ihs::dome.getVertices ()).maxCoeff (&index);
Expand Down
4 changes: 2 additions & 2 deletions common/include/pcl/common/impl/common.hpp
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Expand Up @@ -51,7 +51,7 @@ pcl::getAngle3D (const Eigen::Vector4f &v1, const Eigen::Vector4f &v2, const boo
rad = -1.0;
else if (rad > 1.0)
rad = 1.0;
return (in_degree ? acos (rad) * 180.0 / M_PI : acos (rad));
return (in_degree ? std::acos (rad) * 180.0 / M_PI : std::acos (rad));
}

inline double
Expand All @@ -63,7 +63,7 @@ pcl::getAngle3D (const Eigen::Vector3f &v1, const Eigen::Vector3f &v2, const boo
rad = -1.0;
else if (rad > 1.0)
rad = 1.0;
return (in_degree ? acos (rad) * 180.0 / M_PI : acos (rad));
return (in_degree ? std::acos (rad) * 180.0 / M_PI : std::acos (rad));
}

//////////////////////////////////////////////////////////////////////////////////////////////
Expand Down
2 changes: 1 addition & 1 deletion common/include/pcl/common/impl/polynomial_calculations.hpp
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Expand Up @@ -230,7 +230,7 @@ inline void
else
{
double tmp1 = sqrt (- (4.0/3.0)*alpha),
tmp2 = acos (-sqrt (-27.0/alpha3)*0.5*beta)/3.0;
tmp2 = std::acos (-sqrt (-27.0/alpha3)*0.5*beta)/3.0;
roots.push_back (tmp1*cos (tmp2) - resubValue);
roots.push_back (-tmp1*cos (tmp2 + M_PI/3.0) - resubValue);
roots.push_back (-tmp1*cos (tmp2 - M_PI/3.0) - resubValue);
Expand Down
14 changes: 7 additions & 7 deletions common/include/pcl/range_image/impl/range_image.hpp
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Expand Up @@ -635,7 +635,7 @@ RangeImage::getImpactAngle (const PointWithRange& point1, const PointWithRange&
d = std::sqrt (dSqr);
float cos_impact_angle = (r2Sqr + dSqr - r1Sqr)/ (2.0f*r2*d);
cos_impact_angle = (std::max) (0.0f, (std::min) (1.0f, cos_impact_angle));
impact_angle = acosf (cos_impact_angle); // Using the cosine rule
impact_angle = std::acos (cos_impact_angle); // Using the cosine rule
}

if (point1.range > point2.range)
Expand Down Expand Up @@ -715,7 +715,7 @@ RangeImage::getSurfaceAngleChange (int x, int y, int radius, float& angle_change
}
angle_change_x = transformed_left.dot (transformed_right);
angle_change_x = (std::max) (0.0f, (std::min) (1.0f, angle_change_x));
angle_change_x = acosf (angle_change_x);
angle_change_x = std::acos (angle_change_x);
}

if (isObserved (x, y-radius) && isObserved (x, y+radius))
Expand Down Expand Up @@ -747,7 +747,7 @@ RangeImage::getSurfaceAngleChange (int x, int y, int radius, float& angle_change
}
angle_change_y = transformed_top.dot (transformed_bottom);
angle_change_y = (std::max) (0.0f, (std::min) (1.0f, angle_change_y));
angle_change_y = acosf (angle_change_y);
angle_change_y = std::acos (angle_change_y);
}
}

Expand All @@ -761,18 +761,18 @@ RangeImage::getSurfaceAngleChange (int x, int y, int radius, float& angle_change
//if (std::isinf (neighbor2.range))
//return 0.0f;
//else
//return acosf ( (Eigen::Vector3f (point.x, point.y, point.z)-getSensorPos ()).normalized ().dot ( (Eigen::Vector3f (neighbor2.x, neighbor2.y, neighbor2.z)-Eigen::Vector3f (point.x, point.y, point.z)).normalized ()));
//return std::acos ( (Eigen::Vector3f (point.x, point.y, point.z)-getSensorPos ()).normalized ().dot ( (Eigen::Vector3f (neighbor2.x, neighbor2.y, neighbor2.z)-Eigen::Vector3f (point.x, point.y, point.z)).normalized ()));
//}
//if (std::isinf (neighbor2.range))
//return acosf ( (Eigen::Vector3f (point.x, point.y, point.z)-getSensorPos ()).normalized ().dot ( (Eigen::Vector3f (neighbor1.x, neighbor1.y, neighbor1.z)-Eigen::Vector3f (point.x, point.y, point.z)).normalized ()));
//return std::acos ( (Eigen::Vector3f (point.x, point.y, point.z)-getSensorPos ()).normalized ().dot ( (Eigen::Vector3f (neighbor1.x, neighbor1.y, neighbor1.z)-Eigen::Vector3f (point.x, point.y, point.z)).normalized ()));

//float d1_squared = squaredEuclideanDistance (point, neighbor1),
//d1 = std::sqrt (d1_squared),
//d2_squared = squaredEuclideanDistance (point, neighbor2),
//d2 = std::sqrt (d2_squared),
//d3_squared = squaredEuclideanDistance (neighbor1, neighbor2);
//float cos_surface_change = (d1_squared + d2_squared - d3_squared)/ (2.0f*d1*d2),
//surface_change = acosf (cos_surface_change);
//surface_change = std::acos (cos_surface_change);
//if (std::isnan (surface_change))
//surface_change = static_cast<float> (M_PI);
////std::cout << PVARN (point)<<PVARN (neighbor1)<<PVARN (neighbor2)<<PVARN (cos_surface_change)<<PVARN (surface_change)<<PVARN (d1)<<PVARN (d2)<<PVARN (d1_squared)<<PVARN (d2_squared)<<PVARN (d3_squared);
Expand Down Expand Up @@ -887,7 +887,7 @@ RangeImage::getImpactAngleBasedOnLocalNormal (int x, int y, int radius) const
Eigen::Vector3f normal;
if (!getNormalForClosestNeighbors (x, y, radius, point, no_of_nearest_neighbors, normal, 1))
return -std::numeric_limits<float>::infinity ();
return deg2rad (90.0f) - acosf (normal.dot ( (getSensorPos ()-getEigenVector3f (point)).normalized ()));
return deg2rad (90.0f) - std::acos (normal.dot ( (getSensorPos ()-getEigenVector3f (point)).normalized ()));
}


Expand Down
2 changes: 1 addition & 1 deletion common/src/bearing_angle_image.cpp
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Expand Up @@ -80,7 +80,7 @@ BearingAngleImage::getAngle (const PointXYZ &point1, const PointXYZ &point2)

if (a != 0 && b != 0)
{
theta = acos ((a + b - c) / (2 * sqrt (a) * sqrt (b))) * 180 / M_PI;
theta = std::acos ((a + b - c) / (2 * sqrt (a) * sqrt (b))) * 180 / M_PI;
}
else
{
Expand Down
8 changes: 4 additions & 4 deletions cuda/sample_consensus/src/sac_model_1point_plane.cu
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Expand Up @@ -485,9 +485,9 @@ namespace pcl
if ((fabs (actual_disparity - orig_disparity) <= 1.0/2.0) & (idx != -1)
&
(
fabs (acos (normal.x*coefficients.x + normal.y*coefficients.y + normal.z*coefficients.z)) < angle_threshold
fabs (std::acos (normal.x*coefficients.x + normal.y*coefficients.y + normal.z*coefficients.z)) < angle_threshold
|
fabs (acos (-(normal.x*coefficients.x + normal.y*coefficients.y + normal.z*coefficients.z))) < angle_threshold
fabs (std::acos (-(normal.x*coefficients.x + normal.y*coefficients.y + normal.z*coefficients.z))) < angle_threshold
)
)
return (idx);
Expand All @@ -510,9 +510,9 @@ namespace pcl
pt.z * coefficients.z + coefficients.w) < threshold
&
(
fabs (acos (normal.x*coefficients.x + normal.y*coefficients.y + normal.z*coefficients.z)) < angle_threshold
fabs (std::acos (normal.x*coefficients.x + normal.y*coefficients.y + normal.z*coefficients.z)) < angle_threshold
|
fabs (acos (-(normal.x*coefficients.x + normal.y*coefficients.y + normal.z*coefficients.z))) < angle_threshold
fabs (std::acos (-(normal.x*coefficients.x + normal.y*coefficients.y + normal.z*coefficients.z))) < angle_threshold
)
)
// If inlier, return its position in the vector
Expand Down
2 changes: 1 addition & 1 deletion doc/tutorials/content/sources/registration_api/example1.cpp
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Expand Up @@ -77,7 +77,7 @@ rejectBadCorrespondences (const CorrespondencesPtr &all_correspondences,

// Reject if the angle between the normals is really off
CorrespondenceRejectorSurfaceNormal rej_normals;
rej_normals.setThreshold (acos (deg2rad (45.0)));
rej_normals.setThreshold (std::acos (deg2rad (45.0)));
rej_normals.initializeDataContainer<PointT, PointT> ();
rej_normals.setInputCloud<PointT> (src);
rej_normals.setInputNormals<PointT, PointT> (src);
Expand Down
2 changes: 1 addition & 1 deletion features/include/pcl/features/impl/3dsc.hpp
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Expand Up @@ -212,7 +212,7 @@ pcl::ShapeContext3DEstimation<PointInT, PointNT, PointOutT>::computePoint (
Eigen::Vector3f no = neighbour - origin;
no.normalize ();
float theta = normal.dot (no);
theta = pcl::rad2deg (acosf (std::min (1.0f, std::max (-1.0f, theta))));
theta = pcl::rad2deg (std::acos (std::min (1.0f, std::max (-1.0f, theta))));

// Bin (j, k, l)
size_t j = 0;
Expand Down
2 changes: 1 addition & 1 deletion features/include/pcl/features/impl/board.hpp
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Expand Up @@ -88,7 +88,7 @@ pcl::BOARDLocalReferenceFrameEstimation<PointInT, PointNT, PointOutT>::getAngleB
{
Eigen::Vector3f angle_orientation;
angle_orientation = v1.cross (v2);
float angle_radians = acosf (std::max (-1.0f, std::min (1.0f, v1.dot (v2))));
float angle_radians = std::acos (std::max (-1.0f, std::min (1.0f, v1.dot (v2))));

angle_radians = angle_orientation.dot (axis) < 0.f ? (2 * static_cast<float> (M_PI) - angle_radians) : angle_radians;

Expand Down
2 changes: 1 addition & 1 deletion features/include/pcl/features/impl/cppf.hpp
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Expand Up @@ -88,7 +88,7 @@ pcl::CPPFEstimation<PointInT, PointNT, PointOutT>::computeFeature (PointCloudOut
Eigen::Vector3f model_reference_point = input_->points[i].getVector3fMap (),
model_reference_normal = normals_->points[i].getNormalVector3fMap (),
model_point = input_->points[j].getVector3fMap ();
Eigen::AngleAxisf rotation_mg (acosf (model_reference_normal.dot (Eigen::Vector3f::UnitX ())),
Eigen::AngleAxisf rotation_mg (std::acos (model_reference_normal.dot (Eigen::Vector3f::UnitX ())),
model_reference_normal.cross (Eigen::Vector3f::UnitX ()).normalized ());
Eigen::Affine3f transform_mg = Eigen::Translation3f ( rotation_mg * ((-1) * model_reference_point)) * rotation_mg;

Expand Down
2 changes: 1 addition & 1 deletion features/include/pcl/features/impl/cvfh.hpp
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Expand Up @@ -130,7 +130,7 @@ pcl::CVFHEstimation<PointInT, PointNT, PointOutT>::extractEuclideanClustersSmoot
+ normals.points[seed_queue[sq_idx]].normal[1] * normals.points[nn_indices[j]].normal[1]
+ normals.points[seed_queue[sq_idx]].normal[2] * normals.points[nn_indices[j]].normal[2];

if (fabs (acos (dot_p)) < eps_angle)
if (fabs (std::acos (dot_p)) < eps_angle)
{
processed[nn_indices[j]] = true;
seed_queue.push_back (nn_indices[j]);
Expand Down
6 changes: 3 additions & 3 deletions features/include/pcl/features/impl/esf.hpp
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Expand Up @@ -118,9 +118,9 @@ pcl::ESFEstimation<PointInT, PointOutT>::computeESF (
v23.normalize ();

//TODO: .dot gives nan's
th1 = static_cast<int> (pcl_round (acos (fabs (v21.dot (v31))) / pih * (binsize-1)));
th2 = static_cast<int> (pcl_round (acos (fabs (v23.dot (v31))) / pih * (binsize-1)));
th3 = static_cast<int> (pcl_round (acos (fabs (v23.dot (v21))) / pih * (binsize-1)));
th1 = static_cast<int> (pcl_round (std::acos (fabs (v21.dot (v31))) / pih * (binsize-1)));
th2 = static_cast<int> (pcl_round (std::acos (fabs (v23.dot (v31))) / pih * (binsize-1)));
th3 = static_cast<int> (pcl_round (std::acos (fabs (v23.dot (v21))) / pih * (binsize-1)));
if (th1 < 0 || th1 >= binsize)
{
nn_idx--;
Expand Down
4 changes: 2 additions & 2 deletions features/include/pcl/features/impl/our_cvfh.hpp
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Expand Up @@ -129,7 +129,7 @@ pcl::OURCVFHEstimation<PointInT, PointNT, PointOutT>::extractEuclideanClustersSm
+ normals.points[seed_queue[sq_idx]].normal[1] * normals.points[nn_indices[j]].normal[1] + normals.points[seed_queue[sq_idx]].normal[2]
* normals.points[nn_indices[j]].normal[2];

if (fabs (acos (dot_p)) < eps_angle)
if (fabs (std::acos (dot_p)) < eps_angle)
{
processed[nn_indices[j]] = true;
seed_queue.push_back (nn_indices[j]);
Expand Down Expand Up @@ -641,7 +641,7 @@ pcl::OURCVFHEstimation<PointInT, PointNT, PointOutT>::computeFeature (PointCloud
{
//decide if normal should be added
double dot_p = avg_normal.dot (normals_filtered_cloud->points[index].getNormalVector4fMap ());
if (fabs (acos (dot_p)) < (eps_angle_threshold_ * refine_clusters_))
if (fabs (std::acos (dot_p)) < (eps_angle_threshold_ * refine_clusters_))
{
clusters_[cluster_filtered_idx].indices.push_back (indices_from_nfc_to_indices[index]);
clusters_filtered[cluster_filtered_idx].indices.push_back (index);
Expand Down
2 changes: 1 addition & 1 deletion features/include/pcl/features/impl/ppf.hpp
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Expand Up @@ -85,7 +85,7 @@ pcl::PPFEstimation<PointInT, PointNT, PointOutT>::computeFeature (PointCloudOut
Eigen::Vector3f model_reference_point = input_->points[i].getVector3fMap (),
model_reference_normal = normals_->points[i].getNormalVector3fMap (),
model_point = input_->points[j].getVector3fMap ();
float rotation_angle = acosf (model_reference_normal.dot (Eigen::Vector3f::UnitX ()));
float rotation_angle = std::acos (model_reference_normal.dot (Eigen::Vector3f::UnitX ()));
bool parallel_to_x = (model_reference_normal.y() == 0.0f && model_reference_normal.z() == 0.0f);
Eigen::Vector3f rotation_axis = (parallel_to_x)?(Eigen::Vector3f::UnitY ()):(model_reference_normal.cross (Eigen::Vector3f::UnitX ()). normalized());
Eigen::AngleAxisf rotation_mg (rotation_angle, rotation_axis);
Expand Down
2 changes: 1 addition & 1 deletion features/include/pcl/features/impl/ppfrgb.hpp
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Expand Up @@ -80,7 +80,7 @@ pcl::PPFRGBEstimation<PointInT, PointNT, PointOutT>::computeFeature (PointCloudO
Eigen::Vector3f model_reference_point = input_->points[i].getVector3fMap (),
model_reference_normal = normals_->points[i].getNormalVector3fMap (),
model_point = input_->points[j].getVector3fMap ();
Eigen::AngleAxisf rotation_mg (acosf (model_reference_normal.dot (Eigen::Vector3f::UnitX ())),
Eigen::AngleAxisf rotation_mg (std::acos (model_reference_normal.dot (Eigen::Vector3f::UnitX ())),
model_reference_normal.cross (Eigen::Vector3f::UnitX ()).normalized ());
Eigen::Affine3f transform_mg = Eigen::Translation3f ( rotation_mg * ((-1) * model_reference_point)) * rotation_mg;

Expand Down
4 changes: 2 additions & 2 deletions features/include/pcl/features/impl/range_image_border_extractor.hpp
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Expand Up @@ -388,8 +388,8 @@ bool RangeImageBorderExtractor::calculateMainPrincipalCurvature(int x, int y, in
//magnitude = -std::numeric_limits<float>::infinity ();
//return false;
//}
//float angle2 = acosf(surface_structure_[y*range_image_->width+x+1]->normal.dot(local_surface->normal)),
//angle1 = acosf(surface_structure_[y*range_image_->width+x-1]->normal.dot(local_surface->normal));
//float angle2 = std::acos(surface_structure_[y*range_image_->width+x+1]->normal.dot(local_surface->normal)),
//angle1 = std::acos(surface_structure_[y*range_image_->width+x-1]->normal.dot(local_surface->normal));
//magnitude = angle2-angle1;

return std::isfinite(magnitude);
Expand Down
2 changes: 1 addition & 1 deletion features/include/pcl/features/impl/rift.hpp
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Expand Up @@ -72,7 +72,7 @@ pcl::RIFTEstimation<PointInT, GradientT, PointOutT>::computeRIFT (
Eigen::Map<const Eigen::Vector3f> gradient_vector (& (gradient.points[indices[idx]].gradient[0]));

float gradient_magnitude = gradient_vector.norm ();
float gradient_angle_from_center = acosf (gradient_vector.dot ((point - p0).normalized ()) / gradient_magnitude);
float gradient_angle_from_center = std::acos (gradient_vector.dot ((point - p0).normalized ()) / gradient_magnitude);
if (!std::isfinite (gradient_angle_from_center))
gradient_angle_from_center = 0.0;

Expand Down
4 changes: 2 additions & 2 deletions features/include/pcl/features/impl/rsd.hpp
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Expand Up @@ -84,7 +84,7 @@ pcl::computeRSD (const pcl::PointCloud<PointInT> &surface, const pcl::PointCloud
normals.points[*i].normal[2] * normals.points[*begin].normal[2];
if (cosine > 1) cosine = 1;
if (cosine < -1) cosine = -1;
double angle = acos (cosine);
double angle = std::acos (cosine);
if (angle > M_PI/2) angle = M_PI - angle; /// \note: orientation is neglected!

// Compute point to point distance
Expand Down Expand Up @@ -185,7 +185,7 @@ pcl::computeRSD (const pcl::PointCloud<PointNT> &normals,
normals.points[*i].normal[2] * normals.points[*begin].normal[2];
if (cosine > 1) cosine = 1;
if (cosine < -1) cosine = -1;
double angle = acos (cosine);
double angle = std::acos (cosine);
if (angle > M_PI/2) angle = M_PI - angle; /// \note: orientation is neglected!

// Compute point to point distance
Expand Down
4 changes: 2 additions & 2 deletions features/include/pcl/features/impl/shot.hpp
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Expand Up @@ -359,7 +359,7 @@ pcl::SHOTEstimationBase<PointInT, PointNT, PointOutT, PointRFT>::interpolateSing
if (inclinationCos > 1.0)
inclinationCos = 1.0;

double inclination = acos (inclinationCos);
double inclination = std::acos (inclinationCos);

assert (inclination >= 0.0 && inclination <= PST_RAD_180);

Expand Down Expand Up @@ -558,7 +558,7 @@ pcl::SHOTColorEstimation<PointInT, PointNT, PointOutT, PointRFT>::interpolateDou
if (inclinationCos > 1.0)
inclinationCos = 1.0;

double inclination = acos (inclinationCos);
double inclination = std::acos (inclinationCos);

assert (inclination >= 0.0 && inclination <= PST_RAD_180);

Expand Down
8 changes: 4 additions & 4 deletions features/include/pcl/features/impl/spin_image.hpp
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Expand Up @@ -211,10 +211,10 @@ pcl::SpinImageEstimation<PointInT, PointNT, PointOutT>::computeSiForPoint (int i

if (is_angular_)
{
m_averAngles (alpha_bin, beta_bin) += (1-a) * (1-b) * acos (cos_between_normals);
m_averAngles (alpha_bin+1, beta_bin) += a * (1-b) * acos (cos_between_normals);
m_averAngles (alpha_bin, beta_bin+1) += (1-a) * b * acos (cos_between_normals);
m_averAngles (alpha_bin+1, beta_bin+1) += a * b * acos (cos_between_normals);
m_averAngles (alpha_bin, beta_bin) += (1-a) * (1-b) * std::acos (cos_between_normals);
m_averAngles (alpha_bin+1, beta_bin) += a * (1-b) * std::acos (cos_between_normals);
m_averAngles (alpha_bin, beta_bin+1) += (1-a) * b * std::acos (cos_between_normals);
m_averAngles (alpha_bin+1, beta_bin+1) += a * b * std::acos (cos_between_normals);
}
}

Expand Down
2 changes: 1 addition & 1 deletion features/include/pcl/features/impl/usc.hpp
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Expand Up @@ -186,7 +186,7 @@ pcl::UniqueShapeContext<PointInT, PointOutT, PointRFT>::computePointDescriptor (
Eigen::Vector3f no = neighbour - origin;
no.normalize ();
float theta = normal.dot (no);
theta = pcl::rad2deg (acosf (std::min (1.0f, std::max (-1.0f, theta))));
theta = pcl::rad2deg (std::acos (std::min (1.0f, std::max (-1.0f, theta))));

/// Bin (j, k, l)
size_t j = 0;
Expand Down
2 changes: 1 addition & 1 deletion features/src/pfh.cpp
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Expand Up @@ -64,7 +64,7 @@ pcl::computePairFeatures (const Eigen::Vector4f &p1, const Eigen::Vector4f &n1,

// Make sure the same point is selected as 1 and 2 for each pair
float angle2 = n2_copy.dot (dp2p1) / f4;
if (acos (std::fabs (angle1)) > acos (std::fabs (angle2)))
if (std::acos (std::fabs (angle1)) > std::acos (std::fabs (angle2)))
{
// switch p1 and p2
n1_copy = n2;
Expand Down
4 changes: 2 additions & 2 deletions gpu/features/include/pcl/gpu/features/device/pair_features.hpp
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Expand Up @@ -60,7 +60,7 @@ namespace pcl


float angle2 = dot(n2_copy, dp2p1) / f4;
if (acos (fabs (angle1)) > acos (fabs (angle2)))
if (std::acos (fabs (angle1)) > std::acos (fabs (angle2)))
{
// switch p1 and p2
n1_copy = n2;
Expand Down Expand Up @@ -179,7 +179,7 @@ namespace pcl
__device__ __host__ __forceinline__ void computeAlfaM(const float3& model_reference_point, const float3& model_reference_normal,
const float3& model_point, float& alpha_m)
{
float acos_value = acos (model_reference_normal.x);
float acos_value = std::acos (model_reference_normal.x);

//float3 cross_vector = cross(model_reference_normal, Eigen::Vector3f::UnitX);
float3 cross_vector = make_float3(0, model_reference_normal.z, - model_reference_normal.y);
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2 changes: 1 addition & 1 deletion gpu/features/src/spinimages.cu
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Expand Up @@ -227,7 +227,7 @@ namespace pcl

if (angular)
{
float anlge_betwwn_normals = acos(cos_between_normals);
float anlge_betwwn_normals = std::acos(cos_between_normals);
incAngle(alpha_bin, beta_bin, anlge_betwwn_normals * (1-a) * (1-b));
incAngle(alpha_bin+1, beta_bin, anlge_betwwn_normals * a * (1-b));
incAngle(alpha_bin, beta_bin+1, anlge_betwwn_normals * (1-a) * b );
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2 changes: 1 addition & 1 deletion gpu/kinfu/src/kinfu.cpp
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Expand Up @@ -589,7 +589,7 @@ namespace pcl
double c = (R.trace() - 1) * 0.5;
c = c > 1. ? 1. : c < -1. ? -1. : c;

double theta = acos(c);
double theta = std::acos(c);

if( s < 1e-5 )
{
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2 changes: 1 addition & 1 deletion gpu/kinfu_large_scale/src/kinfu.cpp
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Expand Up @@ -870,7 +870,7 @@ namespace pcl
double c = (R.trace() - 1) * 0.5;
c = c > 1. ? 1. : c < -1. ? -1. : c;

double theta = acos(c);
double theta = std::acos(c);

if( s < 1e-5 )
{
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2 changes: 1 addition & 1 deletion keypoints/src/narf_keypoint.cpp
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Expand Up @@ -146,7 +146,7 @@ namespace
Eigen::Vector3f rotated_direction = rotation*direction;
Eigen::Vector2f direction_vector (rotated_direction[0], rotated_direction[1]);
direction_vector.normalize ();
float angle = 0.5f*normAngle (2.0f*acosf (direction_vector[0]));
float angle = 0.5f*normAngle (2.0f*std::acos (direction_vector[0]));
return (angle);
}

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