Numerous updates

.gitignore

@@ -1,6 +1,7 @@
 # Eclipse
 .classpath
 .project
+.cproject
 .settings/
 
 # Intellij
@@ -19,4 +20,5 @@ build/
 CMakeFiles/
 CMakeCache.txt
 *.cmake
-Makefile
+Makefile
+Debug/

CMakeLists.txt

@@ -16,7 +16,7 @@ else()
 	message(FATAL_ERROR "JNI not found.")
 endif()
 
-find_package(PCL 1.8.1 REQUIRED)
+find_package(PCL 1.9.1 REQUIRED)
 
 if (PCL_FOUND)
 	message(STATUS "PCL found.")

examples/sphere-detection/src/main/java/com/movlad/pcl/examples/SphereDetection.java

@@ -8,114 +8,87 @@
 import com.movlad.pcl.visualization.Visualizer3d;
 
 public class SphereDetection {
-	
+
 	static {
 		// loading the native library in the main class
-		
+
 		System.loadLibrary("pcl_java");
 	}
-	
+
 	public static void main(String[] args) {
-		PointCloud3d noisySphere = createNoisySphere();
-		SampleConsensusModelSphere sphereModel = new SampleConsensusModelSphere(noisySphere);
-
-		/*
-		 * In order to use a native object it needs to be created in the memory on the native side;
-		 * the create() method does exactly that.
-		 */
-
-		sphereModel.create();
-
-		RandomSampleConsensus ransac = new RandomSampleConsensus(sphereModel);
-
-		ransac.create();
-		ransac.setDistanceThreshold(.01f);
-		ransac.computeModel(0);
-
-		PointCloud3d detectedSphere = ransac.getInliners(noisySphere);
-
-		for (Point3d point : detectedSphere) {
-			point.setRGB((short) 255, (short) 0, (short) 0);
-		}
-
-		Visualizer<Point3d> visualizer = new Visualizer3d();
-
-		visualizer.create();
-		visualizer.setWindowName("PCL Java Sphere Detection Example");
-		visualizer.setBackgroundColor(0.f, 0.f, 0.f);
-		visualizer.addCoordinateSystem(0.2, 0);
-		visualizer.addPointCloud(noisySphere, "noisy_sphere", 0);
-		visualizer.addPointCloud(detectedSphere, "detected_sphere", 0);
-		visualizer.setPointSize(2, "noisy_sphere");
-		visualizer.setPointSize(3, "detected_sphere");
-
-		while (!visualizer.wasStopped()) {
-			visualizer.spinOnce(100, false);
-
-			try {
-				Thread.sleep(100);
-			} catch (Exception e) {
-				e.printStackTrace();
+		try (PointCloud3d noisySphere = createNoisySphere();
+				SampleConsensusModelSphere sphereModel = new SampleConsensusModelSphere(noisySphere);
+				RandomSampleConsensus ransac = new RandomSampleConsensus(sphereModel)) {
+			ransac.setDistanceThreshold(.01f);
+			ransac.computeModel(0);
+
+			try (PointCloud3d detectedSphere = ransac.getInliners(noisySphere)) {
+				for (Point3d point : detectedSphere) {
+					point.setRGB((short) 255, (short) 0, (short) 0);
+				}
+
+				try (Visualizer<Point3d> visualizer = new Visualizer3d()) {
+					visualizer.setWindowName("PCL Java Sphere Detection Example");
+					visualizer.setBackgroundColor(0.f, 0.f, 0.f);
+					visualizer.addCoordinateSystem(0.2, 0);
+					visualizer.addPointCloud(noisySphere, "noisy_sphere", 0);
+					visualizer.addPointCloud(detectedSphere, "detected_sphere", 0);
+					visualizer.setPointSize(2, "noisy_sphere");
+					visualizer.setPointSize(3, "detected_sphere");
+
+					while (!visualizer.wasStopped()) {
+						visualizer.spinOnce(100, false);
+
+						try {
+							Thread.sleep(100);
+						} catch (Exception e) {
+							e.printStackTrace();
+						}
+					}
+				}
 			}
 		}
-
-		/*
-		 * All natively allocated objects must be freed from the memory using the dispose() method. 
-		 */
-
-		visualizer.dispose();
-		detectedSphere.dispose();
-		ransac.dispose();
-		sphereModel.dispose();
-		noisySphere.dispose();
 	}
-	
+
 	/**
-	 * @return a point cloud in the shape of a sphere with some noisy points
-	 * here and there
+	 * @return a point cloud in the shape of a sphere with some noisy points here
+	 *         and there
 	 */
 	private static PointCloud3d createNoisySphere() {
 		PointCloud3d noisySphere = new PointCloud3d();
-
-		noisySphere.create();
-
+
 		for (int i = 0; i < 500; i++) {
-			Point3d point = new Point3d();
-
-			point.create();
-			point.setX(randomFloat(-1f, 1f));
-			point.setY(randomFloat(-1f, 1f));
-
-			if (i % 5 == 0) {
-				point.setZ(randomFloat(-1f, 1f));
-			} else if (i % 2 == 0) {
-				point.setZ((float)Math.sqrt(1 - (point.getX() * point.getX()) - (point.getY() * point.getY())));
-			} else {
-				point.setZ((float) -Math.sqrt(1 - (point.getX() * point.getX()) - (point.getY() * point.getY())));
+
+			// Adding point to noisySphere will copy the reference, so point is closed
+			// in a try-with-resources block
+			try (Point3d point = new Point3d()) {
+
+				point.setX(randomFloat(-1f, 1f));
+				point.setY(randomFloat(-1f, 1f));
+
+				if (i % 5 == 0) {
+					point.setZ(randomFloat(-1f, 1f));
+				} else if (i % 2 == 0) {
+					point.setZ((float) Math.sqrt(1 - (point.getX() * point.getX()) - (point.getY() * point.getY())));
+				} else {
+					point.setZ((float) -Math.sqrt(1 - (point.getX() * point.getX()) - (point.getY() * point.getY())));
+				}
+
+				point.setRGB((short) 255, (short) 255, (short) 255);
+
+				noisySphere.add(point);
 			}
-
-			point.setRGB((short)255, (short)255, (short)255);
-
-			noisySphere.add(point);
-
-			/*
-			 * The reference to point created within the loop is not the same as the reference
-			 * to the point within the noisySphere point cloud; as such it needs to be released
-			 * at the end of each loop iteration.
-			 */
-
-			point.dispose(); 
 		}
-		
+
 		return noisySphere;
 	}
-	
+
 	/**
 	 * @param min is the minimum float that can be generated
 	 * @param max is the maximum float that can be generated
 	 * @return a float between min and max
 	 */
-	private static float randomFloat(float min, float  max) {
+	private static float randomFloat(float min, float max) {
 		return (float) (min + Math.random() * (max - min));
 	}
 

src/main/c/com_movlad_pcl_Matrix4.cpp

@@ -0,0 +1,35 @@
+#include <jni.h>
+
+#include <eigen3/Eigen/Dense>
+
+#include "handle.h"
+
+#include "com_movlad_pcl_Normal.h"
+
+
+void Java_com_movlad_pcl_Matrix4_alloc(JNIEnv* env, jobject obj) {
+    Eigen::Matrix4d *matrix_ptr = new Eigen::Matrix4d();
+
+    set_handle(env, obj, matrix_ptr);
+}
+
+void Java_com_movlad_pcl_Matrix4_dispose(JNIEnv* env, jobject obj) {
+    Eigen::Matrix4d *matrix_ptr = get_handle<Eigen::Matrix4d>(env, obj);
+
+    delete matrix_ptr;
+
+    set_handle<Eigen::Matrix4d>(env, obj, nullptr);
+}
+
+jdouble Java_com_movlad_pcl_Matrix4_nGet(JNIEnv* env, jobject obj, jint r, jint c) {
+    Eigen::Matrix4d *matrix_ptr = get_handle<Eigen::Matrix4d>(env, obj);
+
+    return (jdouble) (*matrix_ptr)(r, c);
+}
+
+void Java_com_movlad_pcl_Matrix4_nSet(JNIEnv* env, jobject obj, jint r, jint c, jdouble value) {
+    Eigen::Matrix4d *matrix_ptr = get_handle<Eigen::Matrix4d>(env, obj);
+
+    (*matrix_ptr)(r, c) = (double) value;
+}
+

src/main/c/com_movlad_pcl_Matrix4f.cpp

@@ -0,0 +1,35 @@
+#include <jni.h>
+
+#include <eigen3/Eigen/Dense>
+
+#include "handle.h"
+
+#include "com_movlad_pcl_Normal.h"
+
+
+void Java_com_movlad_pcl_Matrix4f_alloc(JNIEnv* env, jobject obj) {
+    Eigen::Matrix4f *matrix_ptr = new Eigen::Matrix4f();
+
+    set_handle(env, obj, matrix_ptr);
+}
+
+void Java_com_movlad_pcl_Matrix4f_dispose(JNIEnv* env, jobject obj) {
+    Eigen::Matrix4f *matrix_ptr = get_handle<Eigen::Matrix4f>(env, obj);
+
+    delete matrix_ptr;
+
+    set_handle<Eigen::Matrix4f>(env, obj, nullptr);
+}
+
+jfloat Java_com_movlad_pcl_Matrix4f_nGet(JNIEnv* env, jobject obj, jint r, jint c) {
+    Eigen::Matrix4f *matrix_ptr = get_handle<Eigen::Matrix4f>(env, obj);
+
+    return (jfloat) (*matrix_ptr)(r, c);
+}
+
+void Java_com_movlad_pcl_Matrix4f_nSet(JNIEnv* env, jobject obj, jint r, jint c, jfloat value) {
+    Eigen::Matrix4f *matrix_ptr = get_handle<Eigen::Matrix4f>(env, obj);
+
+    (*matrix_ptr)(r, c) = (float) value;
+}
+

src/main/c/com_movlad_pcl_NormalCloud.cpp

@@ -1,3 +1,5 @@
+#include <stdexcept>
+
 #include "com_movlad_pcl_NormalCloud.h"
 #include "sptr_wrapper.h"
 #include "handle.h"
@@ -35,7 +37,7 @@ void Java_com_movlad_pcl_NormalCloud_add(JNIEnv *env, jobject obj, jobject point
 
 void Java_com_movlad_pcl_NormalCloud_remove(JNIEnv *env, jobject obj, jobject point)
 {
-	throw "Not yet implemented.";
+    throw std::runtime_error("Not yet implemented.");
 }
 
 void Java_com_movlad_pcl_NormalCloud_clear(JNIEnv *env, jobject obj)
@@ -58,4 +60,4 @@ jboolean Java_com_movlad_pcl_NormalCloud_isOrganized(JNIEnv *env, jobject obj)
 	bool isOrganized = cloud_ptr->isOrganized();
 
 	return isOrganized;
-}
+}

src/main/c/com_movlad_pcl_Point3d.cpp

@@ -83,4 +83,4 @@ void Java_com_movlad_pcl_Point3d_setB(JNIEnv *env, jobject obj, jshort b)
 jfloat Java_com_movlad_pcl_Point3d_getRGB(JNIEnv *env, jobject obj)
 {
 	return get_handle<pcl::PointXYZRGB>(env, obj)->rgb;
-}
+}