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[registration] Don't move, or copy ICP #4167

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Aug 14, 2020
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[registration] Don't move, or copy ICP #4167

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b346f85
Don't move, or copy ICP
kunaltyagi Jun 5, 2020
beb650d
Add info blurb for the why this is being done
kunaltyagi Jun 8, 2020
e19468b
Correct typo
kunaltyagi Jun 9, 2020
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13 changes: 13 additions & 0 deletions registration/include/pcl/registration/icp.h
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Expand Up @@ -154,6 +154,19 @@ namespace pcl
convergence_criteria_.reset(new pcl::registration::DefaultConvergenceCriteria<Scalar> (nr_iterations_, transformation_, *correspondences_));
};

/**
* \brief Due to `convergence_criteria_` holding references to the class members,
* it is tricky to correctly implement its copy and move operations correctly. This
* can result in subtle bugs and to prevent them, these operations for ICP have
* been disabled.
*
* \todo: remove deleted ctors and assignments operations after resolving the issue
*/
IterativeClosestPoint(const IterativeClosestPoint&) = delete;
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IterativeClosestPoint(IterativeClosestPoint&&) = delete;
IterativeClosestPoint& operator=(const IterativeClosestPoint&) = delete;
IterativeClosestPoint& operator=(IterativeClosestPoint&&) = delete;

/** \brief Empty destructor */
~IterativeClosestPoint () {}

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