Add missing cloud index in registration neighbour search

themightyoarfish · themightyoarfish · commit c49cb9921b18 · 2025-04-01T14:50:33.000+02:00
diff --git a/registration/include/pcl/registration/registration.h b/registration/include/pcl/registration/registration.h
@@ -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], index, 1, indices, distances);
     if (k == 0)
       return (false);
     return (true);

Original file line number	Diff line number	Diff line change
`@@ -665,7 +665,7 @@ class Registration : public PCLBase<PointSource> {`
`665`	`665`	`pcl::Indices& indices,`
`666`	`666`	`std::vector<float>& distances)`
`667`	`667`	`{`
`668`		`- int k = tree_->nearestKSearch(cloud, index, 1, indices, distances);`
	`668`	`+ int k = tree_->nearestKSearchT(cloud[index], index, 1, indices, distances);`
`669`	`669`	`if (k == 0)`
`670`	`670`	`return (false);`
`671`	`671`	`return (true);`