Merge pull request #4535 from JStech/fix-force-no-recompute

registration/include/pcl/registration/correspondence_estimation.h

@@ -212,9 +212,7 @@ class CorrespondenceEstimationBase : public PCLBase<PointSource> {
   setSearchMethodTarget(const KdTreePtr& tree, bool force_no_recompute = false)
   {
     tree_ = tree;
-    if (force_no_recompute) {
-      force_no_recompute_ = true;
-    }
+    force_no_recompute_ = force_no_recompute;
     // Since we just set a new tree, we need to check for updates
     target_cloud_updated_ = true;
   }
@@ -239,9 +237,7 @@ class CorrespondenceEstimationBase : public PCLBase<PointSource> {
                         bool force_no_recompute = false)
   {
     tree_reciprocal_ = tree;
-    if (force_no_recompute) {
-      force_no_recompute_reciprocal_ = true;
-    }
+    force_no_recompute_reciprocal_ = force_no_recompute;
     // Since we just set a new tree, we need to check for updates
     source_cloud_updated_ = true;
   }

registration/include/pcl/registration/correspondence_rejection.h

@@ -303,9 +303,7 @@ class DataContainer : public DataContainerInterface {
   setSearchMethodTarget(const KdTreePtr& tree, bool force_no_recompute = false)
   {
     tree_ = tree;
-    if (force_no_recompute) {
-      force_no_recompute_ = true;
-    }
+    force_no_recompute_ = force_no_recompute;
     target_cloud_updated_ = true;
   }
 

registration/include/pcl/registration/registration.h

@@ -226,9 +226,7 @@ class Registration : public PCLBase<PointSource> {
   setSearchMethodTarget(const KdTreePtr& tree, bool force_no_recompute = false)
   {
     tree_ = tree;
-    if (force_no_recompute) {
-      force_no_recompute_ = true;
-    }
+    force_no_recompute_ = force_no_recompute;
     // Since we just set a new tree, we need to check for updates
     target_cloud_updated_ = true;
   }
@@ -253,9 +251,7 @@ class Registration : public PCLBase<PointSource> {
                         bool force_no_recompute = false)
   {
     tree_reciprocal_ = tree;
-    if (force_no_recompute) {
-      force_no_recompute_reciprocal_ = true;
-    }
+    force_no_recompute_reciprocal_ = force_no_recompute;
     // Since we just set a new tree, we need to check for updates
     source_cloud_updated_ = true;
   }

registration/include/pcl/registration/transformation_validation_euclidean.h

@@ -136,9 +136,7 @@ class TransformationValidationEuclidean {
   setSearchMethodTarget(const KdTreePtr& tree, bool force_no_recompute = false)
   {
     tree_ = tree;
-    if (force_no_recompute) {
-      force_no_recompute_ = true;
-    }
+    force_no_recompute_ = force_no_recompute;
   }
 
   /** \brief Set a threshold for which a specific transformation is considered valid.

test/registration/test_ndt.cpp

@@ -46,9 +46,9 @@
 
 using namespace pcl;
 using namespace pcl::io;
- 
+
 PointCloud<PointXYZ> cloud_source, cloud_target;
- 
+
 //////////////////////////////////////////////////////////////////////////////////////////////////////////////////
 TEST (PCL, NormalDistributionsTransform)
 {
@@ -74,8 +74,8 @@ TEST (PCL, NormalDistributionsTransform)
   // Check again, for all possible caching schemes
   for (int iter = 0; iter < 4; iter++)
   {
-    bool force_cache = (bool) iter/2;
-    bool force_cache_reciprocal = (bool) iter%2;
+    bool force_cache = static_cast<bool> (iter/2);
+    bool force_cache_reciprocal = static_cast<bool> (iter%2);
     pcl::search::KdTree<PointT>::Ptr tree(new pcl::search::KdTree<PointT>);
     // Ensure that, when force_cache is not set, we are robust to the wrong input
     if (force_cache)

test/registration/test_registration.cpp

@@ -475,8 +475,8 @@ TEST (PCL, IterativeClosestPoint_PointToPlane)
   // Check again, for all possible caching schemes
   for (int iter = 0; iter < 4; iter++)
   {
-    bool force_cache = (bool) iter/2;
-    bool force_cache_reciprocal = (bool) iter%2;
+    bool force_cache = static_cast<bool> (iter/2);
+    bool force_cache_reciprocal = static_cast<bool> (iter%2);
     pcl::search::KdTree<PointT>::Ptr tree(new pcl::search::KdTree<PointT>);
     // Ensure that, when force_cache is not set, we are robust to the wrong input
     if (force_cache)
@@ -548,8 +548,8 @@ TEST (PCL, GeneralizedIterativeClosestPoint)
   // Check again, for all possible caching schemes
   for (int iter = 0; iter < 4; iter++)
   {
-    bool force_cache = (bool) iter/2;
-    bool force_cache_reciprocal = (bool) iter%2;
+    bool force_cache = static_cast<bool> (iter/2);
+    bool force_cache_reciprocal = static_cast<bool> (iter%2);
     pcl::search::KdTree<PointT>::Ptr tree(new pcl::search::KdTree<PointT>);
     // Ensure that, when force_cache is not set, we are robust to the wrong input
     if (force_cache)
@@ -621,8 +621,8 @@ TEST (PCL, GeneralizedIterativeClosestPoint6D)
   // Check again, for all possible caching schemes
   for (int iter = 0; iter < 4; iter++)
   {
-    bool force_cache = (bool) iter/2;
-    bool force_cache_reciprocal = (bool) iter%2;
+    bool force_cache = static_cast<bool> (iter/2);
+    bool force_cache_reciprocal = static_cast<bool> (iter%2);
     pcl::search::KdTree<PointT>::Ptr tree(new pcl::search::KdTree<PointT>);
     // Ensure that, when force_cache is not set, we are robust to the wrong input
     if (force_cache)

test/registration/test_sac_ia.cpp

@@ -115,8 +115,8 @@ TEST (PCL, SampleConsensusInitialAlignment)
   using PointT = pcl::PointXYZ;
   for (int iter = 0; iter < 4; iter++)
   {
-    bool force_cache = (bool) iter/2;
-    bool force_cache_reciprocal = (bool) iter%2;
+    bool force_cache = static_cast<bool> (iter/2);
+    bool force_cache_reciprocal = static_cast<bool> (iter%2);
     pcl::search::KdTree<PointT>::Ptr tree(new pcl::search::KdTree<PointT>);
     // Ensure that, when force_cache is not set, we are robust to the wrong input
     if (force_cache)
@@ -212,8 +212,8 @@ TEST (PCL, SampleConsensusPrerejective)
   using PointT = pcl::PointXYZ;
   for (int iter = 0; iter < 4; iter++)
   {
-    bool force_cache = (bool) iter/2;
-    bool force_cache_reciprocal = (bool) iter%2;
+    bool force_cache = static_cast<bool> (iter/2);
+    bool force_cache_reciprocal = static_cast<bool> (iter%2);
     pcl::search::KdTree<PointT>::Ptr tree(new pcl::search::KdTree<PointT>);
     // Ensure that, when force_cache is not set, we are robust to the wrong input
     if (force_cache)