Remove redundant code

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)