MomentOfInertiaEstimation: call functions from PCLBase

features/include/pcl/features/impl/moment_of_inertia_estimation.hpp

@@ -567,8 +567,7 @@ pcl::MomentOfInertiaEstimation<PointT>::getMassCenter (Eigen::Vector3f& mass_cen
 template <typename PointT> void
 pcl::MomentOfInertiaEstimation<PointT>::setInputCloud (const PointCloudConstPtr& cloud)
 {
-  input_ = cloud;
-
+  pcl::PCLBase<PointT>::setInputCloud (cloud);
   is_valid_ = false;
 }
 
@@ -576,10 +575,7 @@ pcl::MomentOfInertiaEstimation<PointT>::setInputCloud (const PointCloudConstPtr&
 template <typename PointT> void
 pcl::MomentOfInertiaEstimation<PointT>::setIndices (const IndicesPtr& indices)
 {
-  indices_ = indices;
-  fake_indices_ = false;
-  use_indices_  = true;
-
+  pcl::PCLBase<PointT>::setIndices (indices);
   is_valid_ = false;
 }
 
@@ -587,10 +583,7 @@ pcl::MomentOfInertiaEstimation<PointT>::setIndices (const IndicesPtr& indices)
 template <typename PointT> void
 pcl::MomentOfInertiaEstimation<PointT>::setIndices (const IndicesConstPtr& indices)
 {
-  indices_.reset (new std::vector<int> (*indices));
-  fake_indices_ = false;
-  use_indices_  = true;
-
+  pcl::PCLBase<PointT>::setIndices (indices);
   is_valid_ = false;
 }
 
@@ -598,10 +591,7 @@ pcl::MomentOfInertiaEstimation<PointT>::setIndices (const IndicesConstPtr& indic
 template <typename PointT> void
 pcl::MomentOfInertiaEstimation<PointT>::setIndices (const PointIndicesConstPtr& indices)
 {
-  indices_.reset (new std::vector<int> (indices->indices));
-  fake_indices_ = false;
-  use_indices_  = true;
-
+  pcl::PCLBase<PointT>::setIndices (indices);
   is_valid_ = false;
 }
 
@@ -609,40 +599,7 @@ pcl::MomentOfInertiaEstimation<PointT>::setIndices (const PointIndicesConstPtr&
 template <typename PointT> void
 pcl::MomentOfInertiaEstimation<PointT>::setIndices (std::size_t row_start, std::size_t col_start, std::size_t nb_rows, std::size_t nb_cols)
 {
-  if ((nb_rows > input_->height) || (row_start > input_->height))
-  {
-    PCL_ERROR ("[PCLBase::setIndices] cloud is only %d height\n", input_->height);
-    return;
-  }
-
-  if ((nb_cols > input_->width) || (col_start > input_->width))
-  {
-    PCL_ERROR ("[PCLBase::setIndices] cloud is only %d width\n", input_->width);
-    return;
-  }
-
-  const std::size_t row_end = row_start + nb_rows;
-  if (row_end > input_->height)
-  {
-    PCL_ERROR ("[PCLBase::setIndices] %d is out of rows range %d\n", row_end, input_->height);
-    return;
-  }
-
-  const std::size_t col_end = col_start + nb_cols;
-  if (col_end > input_->width)
-  {
-    PCL_ERROR ("[PCLBase::setIndices] %d is out of columns range %d\n", col_end, input_->width);
-    return;
-  }
-
-  indices_.reset (new std::vector<int>);
-  indices_->reserve (nb_cols * nb_rows);
-  for(std::size_t i = row_start; i < row_end; i++)
-    for(std::size_t j = col_start; j < col_end; j++)
-      indices_->push_back (static_cast<int> ((i * input_->width) + j));
-  fake_indices_ = false;
-  use_indices_  = true;
-
+  pcl::PCLBase<PointT>::setIndices (row_start, col_start, nb_rows, nb_cols);
   is_valid_ = false;
 }