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add explicit instantiations to transformation estimation LM and one to ICP #6258

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Merged
merged 8 commits into from
Apr 15, 2025
Merged

add explicit instantiations to transformation estimation LM and one to ICP #6258

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935cb04
add explicit instantiation to transformation estimation LM
themightyoarfish Mar 27, 2025
5274582
instantiate icp with normal point type, for use with transformation e…
themightyoarfish Mar 27, 2025
67afab3
Formatting
themightyoarfish Mar 30, 2025
c49cb99
Add missing cloud index in registration neighbour search
themightyoarfish Mar 31, 2025
2a04453
Update registration/include/pcl/registration/transformation_estimatio…
themightyoarfish Mar 30, 2025
eb203f7
Update registration/include/pcl/registration/registration.h
themightyoarfish Apr 6, 2025
97ff253
Use nearestKSearchT in registration.hpp
themightyoarfish Apr 12, 2025
29a2afd
fix icp explicit instantiations
themightyoarfish Apr 14, 2025
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1 change: 1 addition & 0 deletions registration/include/pcl/registration/icp.h
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Expand Up @@ -463,4 +463,5 @@ class IterativeClosestPointWithNormals
extern template class pcl::IterativeClosestPoint<pcl::PointXYZ, pcl::PointXYZ>;
extern template class pcl::IterativeClosestPoint<pcl::PointXYZI, pcl::PointXYZI>;
extern template class pcl::IterativeClosestPoint<pcl::PointXYZRGB, pcl::PointXYZRGB>;
extern template class pcl::IterativeClosestPoint<pcl::PointXYZ, pcl::PointNormal>;
#endif // PCL_NO_PRECOMPILE
4 changes: 2 additions & 2 deletions registration/include/pcl/registration/impl/registration.hpp
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Expand Up @@ -148,7 +148,7 @@ Registration<PointSource, PointTarget, Scalar>::getFitnessScore(double max_range
if (!input_->is_dense && !pcl::isXYZFinite(point))
continue;
// Find its nearest neighbor in the target
tree_->nearestKSearch(point, 1, nn_indices, nn_dists);
tree_->nearestKSearchT(point, 1, nn_indices, nn_dists);

// Deal with occlusions (incomplete targets)
if (nn_dists[0] <= max_range) {
Expand Down Expand Up @@ -216,4 +216,4 @@ Registration<PointSource, PointTarget, Scalar>::align(PointCloudSource& output,
deinitCompute();
}

} // namespace pcl
} // namespace pcl
2 changes: 1 addition & 1 deletion registration/include/pcl/registration/registration.h
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Expand Up @@ -665,7 +665,7 @@ class Registration : public PCLBase<PointSource> {
pcl::Indices& indices,
std::vector<float>& distances)
{
int k = tree_->nearestKSearch(cloud, index, 1, indices, distances);
int k = tree_->nearestKSearchT(cloud[index], 1, indices, distances);
if (k == 0)
return (false);
return (true);
Expand Down
10 changes: 10 additions & 0 deletions registration/include/pcl/registration/transformation_estimation_lm.h
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Expand Up @@ -349,3 +349,13 @@ class TransformationEstimationLM
} // namespace pcl

#include <pcl/registration/impl/transformation_estimation_lm.hpp>

#if !defined(PCL_NO_PRECOMPILE) && \
!defined(PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_LM_CPP_)
extern template class pcl::registration::TransformationEstimationLM<pcl::PointXYZ,
pcl::PointXYZ>;
extern template class pcl::registration::TransformationEstimationLM<pcl::PointXYZI,
pcl::PointXYZI>;
extern template class pcl::registration::TransformationEstimationLM<pcl::PointXYZRGB,
pcl::PointXYZRGB>;
#endif // PCL_NO_PRECOMPILE
1 change: 1 addition & 0 deletions registration/src/icp.cpp
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Expand Up @@ -48,4 +48,5 @@ template class PCL_EXPORTS pcl::IterativeClosestPoint<pcl::PointXYZ, pcl::PointX
template class PCL_EXPORTS pcl::IterativeClosestPoint<pcl::PointXYZI, pcl::PointXYZI>;
template class PCL_EXPORTS
pcl::IterativeClosestPoint<pcl::PointXYZRGB, pcl::PointXYZRGB>;
template class PCL_EXPORTS pcl::IterativeClosestPoint<pcl::PointXYZ, pcl::PointNormal>;
#endif // PCL_NO_PRECOMPILE
13 changes: 13 additions & 0 deletions registration/src/transformation_estimation_lm.cpp
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Expand Up @@ -36,4 +36,17 @@
*
*/

#define PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_LM_CPP_
#include <pcl/registration/transformation_estimation_lm.h>
#include <pcl/pcl_config.h> // for PCL_NO_PRECOMPILE

#ifndef PCL_NO_PRECOMPILE
#include <pcl/pcl_exports.h> // for PCL_EXPORTS
#include <pcl/point_types.h>
template class PCL_EXPORTS
pcl::registration::TransformationEstimationLM<pcl::PointXYZ, pcl::PointXYZ>;
template class PCL_EXPORTS
pcl::registration::TransformationEstimationLM<pcl::PointXYZI, pcl::PointXYZI>;
template class PCL_EXPORTS
pcl::registration::TransformationEstimationLM<pcl::PointXYZRGB, pcl::PointXYZRGB>;
#endif // PCL_NO_PRECOMPILE