Test for greater than 0 in centroid.hpp

mvieth · web-flow · commit 3fdae3a42869 · 2022-05-28T17:12:26.000+02:00
diff --git a/common/include/pcl/common/impl/centroid.hpp b/common/include/pcl/common/impl/centroid.hpp
@@ -75,7 +75,7 @@ compute3DCentroid (ConstCloudIterator<PointT> &cloud_iterator,
     ++cloud_iterator;
   }
 
-  if (cp) {
+  if (cp > 0) {
     centroid = accumulator;
     centroid /= static_cast<Scalar> (cp);
     centroid[3] = 1;
@@ -122,7 +122,7 @@ compute3DCentroid (const pcl::PointCloud<PointT> &cloud,
     accumulator[2] += point.z;
     ++cp;
   }
-  if (cp) {
+  if (cp > 0) {
     centroid = accumulator;
     centroid /= static_cast<Scalar> (cp);
     centroid[3] = 1;
@@ -169,7 +169,7 @@ compute3DCentroid (const pcl::PointCloud<PointT> &cloud,
     accumulator[2] += cloud[index].z;
     ++cp;
   }
-  if (cp) {
+  if (cp > 0) {
     centroid = accumulator;
     centroid /= static_cast<Scalar> (cp);
     centroid[3] = 1;
@@ -249,7 +249,7 @@ computeCovarianceMatrix (const pcl::PointCloud<PointT> &cloud,
       temp_covariance_matrix (0, 2) += pt.z ();
       ++point_count;
     }
-    if (point_count) {
+    if (point_count > 0) {
       covariance_matrix = temp_covariance_matrix;
     }
   }
@@ -339,7 +339,7 @@ computeCovarianceMatrix (const pcl::PointCloud<PointT> &cloud,
       temp_covariance_matrix (0, 2) += pt.z ();
       ++point_count;
     }
-    if (point_count) {
+    if (point_count > 0) {
       covariance_matrix = temp_covariance_matrix;
     }
   }

Original file line number	Diff line number	Diff line change
`@@ -75,7 +75,7 @@ compute3DCentroid (ConstCloudIterator<PointT> &cloud_iterator,`
`75`	`75`	`++cloud_iterator;`
`76`	`76`	`}`
`77`	`77`
`78`		`- if (cp) {`
	`78`	`+ if (cp > 0) {`
`79`	`79`	`centroid = accumulator;`
`80`	`80`	`centroid /= static_cast<Scalar> (cp);`
`81`	`81`	`centroid[3] = 1;`
`@@ -122,7 +122,7 @@ compute3DCentroid (const pcl::PointCloud<PointT> &cloud,`
`122`	`122`	`accumulator[2] += point.z;`
`123`	`123`	`++cp;`
`124`	`124`	`}`
`125`		`- if (cp) {`
	`125`	`+ if (cp > 0) {`
`126`	`126`	`centroid = accumulator;`
`127`	`127`	`centroid /= static_cast<Scalar> (cp);`
`128`	`128`	`centroid[3] = 1;`
`@@ -169,7 +169,7 @@ compute3DCentroid (const pcl::PointCloud<PointT> &cloud,`
`169`	`169`	`accumulator[2] += cloud[index].z;`
`170`	`170`	`++cp;`
`171`	`171`	`}`
`172`		`- if (cp) {`
	`172`	`+ if (cp > 0) {`
`173`	`173`	`centroid = accumulator;`
`174`	`174`	`centroid /= static_cast<Scalar> (cp);`
`175`	`175`	`centroid[3] = 1;`
`@@ -249,7 +249,7 @@ computeCovarianceMatrix (const pcl::PointCloud<PointT> &cloud,`
`249`	`249`	`temp_covariance_matrix (0, 2) += pt.z ();`
`250`	`250`	`++point_count;`
`251`	`251`	`}`
`252`		`- if (point_count) {`
	`252`	`+ if (point_count > 0) {`
`253`	`253`	`covariance_matrix = temp_covariance_matrix;`
`254`	`254`	`}`
`255`	`255`	`}`
`@@ -339,7 +339,7 @@ computeCovarianceMatrix (const pcl::PointCloud<PointT> &cloud,`
`339`	`339`	`temp_covariance_matrix (0, 2) += pt.z ();`
`340`	`340`	`++point_count;`
`341`	`341`	`}`
`342`		`- if (point_count) {`
	`342`	`+ if (point_count > 0) {`
`343`	`343`	`covariance_matrix = temp_covariance_matrix;`
`344`	`344`	`}`
`345`	`345`	`}`