From 1ccfdecbce3fa21da6224a31daac2fc0ae14c5b0 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Fri, 12 Aug 2022 12:14:36 +0200
Subject: [PATCH] Remove redundant code
---
include/laser/utils/laser3d_tools.h | 15 ++++-----------
1 file changed, 4 insertions(+), 11 deletions(-)
diff --git a/include/laser/utils/laser3d_tools.h b/include/laser/utils/laser3d_tools.h
index b96b709c2..95275e783 100644
--- a/include/laser/utils/laser3d_tools.h
+++ b/include/laser/utils/laser3d_tools.h
@@ -60,17 +60,9 @@ inline void pairAlign(const pcl::PointCloud<pcl::PointXYZ>::Ptr _cloud_ref,
auto start = std::chrono::high_resolution_clock::now();
// DURATION --------------------------------------------------------
- // Internal PointCloud pointers (boost::shared_ptr)
- pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_ref = pcl::make_shared<pcl::PointCloud<pcl::PointXYZ>>();
- pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_other = pcl::make_shared<pcl::PointCloud<pcl::PointXYZ>>();
-
- // Point clouds are considered already downsampled
- *cloud_ref = *_cloud_ref;
- *cloud_other = *_cloud_other;
-
// Set input clouds
- _registration_solver->setInputSource(cloud_ref);
- _registration_solver->setInputTarget(cloud_other);
+ _registration_solver->setInputSource(_cloud_ref);
+ _registration_solver->setInputTarget(_cloud_other);
// Declare variables
Eigen::Matrix4f transform_pcl;
@@ -79,7 +71,8 @@ inline void pairAlign(const pcl::PointCloud<pcl::PointXYZ>::Ptr _cloud_ref,
Eigen::Matrix4f transform_guess = _transform_guess.matrix().cast<float>();
// Alignment
- _registration_solver->align(*cloud_ref, transform_guess);
+ pcl::PointCloud<pcl::PointXYZ>cloud_out;
+ _registration_solver->align(cloud_out, transform_guess);
transform_pcl = _registration_solver->getFinalTransformation();
// Output the transformation as Isometry of double(s)
--
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