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[registration] Remove deprecated method Registration::setInputCloud() from public API #4026

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May 6, 2020
Merged

[registration] Remove deprecated method Registration::setInputCloud() from public API #4026

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888b26b
[registration] Removing from public API
kunaltyagi May 3, 2020
7a59217
Removing usage in tutorials
kunaltyagi May 3, 2020
a864e56
Add a warning and improve result
kunaltyagi May 6, 2020
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4 changes: 2 additions & 2 deletions doc/tutorials/content/sources/iccv2011/include/registration.h
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Original file line number Diff line number Diff line change
Expand Up @@ -34,7 +34,7 @@ computeInitialAlignment (const PointCloudPtr & source_points, const LocalDescrip
sac_ia.setMaxCorrespondenceDistance (max_correspondence_distance);
sac_ia.setMaximumIterations (nr_iterations);

sac_ia.setInputCloud (source_points);
sac_ia.setInputSource (source_points);
sac_ia.setSourceFeatures (source_descriptors);

sac_ia.setInputTarget (target_points);
Expand Down Expand Up @@ -81,7 +81,7 @@ refineAlignment (const PointCloudPtr & source_points, const PointCloudPtr & targ
PointCloudPtr source_points_transformed (new PointCloud);
pcl::transformPointCloud (*source_points, *source_points_transformed, initial_alignment);

icp.setInputCloud (source_points_transformed);
icp.setInputSource (source_points_transformed);
icp.setInputTarget (target_points);

PointCloud registration_output;
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2 changes: 1 addition & 1 deletion doc/tutorials/content/sources/iccv2011/src/tutorial.cpp
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Expand Up @@ -344,7 +344,7 @@ void ICCVTutorial<FeatureType>::determineFinalTransformation ()
{
std::cout << "final registration..." << std::flush;
pcl::Registration<pcl::PointXYZRGB, pcl::PointXYZRGB>::Ptr registration (new pcl::IterativeClosestPoint<pcl::PointXYZRGB, pcl::PointXYZRGB>);
registration->setInputCloud(source_transformed_);
registration->setInputSource(source_transformed_);
//registration->setInputCloud(source_segmented_);
registration->setInputTarget (target_segmented_);
registration->setMaxCorrespondenceDistance(0.05);
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4 changes: 2 additions & 2 deletions doc/tutorials/content/sources/iros2011/include/solution/registration.h
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Expand Up @@ -34,7 +34,7 @@ computeInitialAlignment (const PointCloudPtr & source_points, const LocalDescrip
sac_ia.setMaxCorrespondenceDistance (max_correspondence_distance);
sac_ia.setMaximumIterations (nr_iterations);

sac_ia.setInputCloud (source_points);
sac_ia.setInputSource (source_points);
sac_ia.setSourceFeatures (source_descriptors);

sac_ia.setInputTarget (target_points);
Expand Down Expand Up @@ -81,7 +81,7 @@ refineAlignment (const PointCloudPtr & source_points, const PointCloudPtr & targ
PointCloudPtr source_points_transformed (new PointCloud);
pcl::transformPointCloud (*source_points, *source_points_transformed, initial_alignment);

icp.setInputCloud (source_points_transformed);
icp.setInputSource (source_points_transformed);
icp.setInputTarget (target_points);

PointCloud registration_output;
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2 changes: 1 addition & 1 deletion doc/tutorials/content/sources/template_alignment/template_alignment.cpp
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Expand Up @@ -162,7 +162,7 @@ class TemplateAlignment
void
align (FeatureCloud &template_cloud, TemplateAlignment::Result &result)
{
sac_ia_.setInputCloud (template_cloud.getPointCloud ());
sac_ia_.setInputSource (template_cloud.getPointCloud ());
sac_ia_.setSourceFeatures (template_cloud.getLocalFeatures ());

pcl::PointCloud<pcl::PointXYZ> registration_output;
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13 changes: 13 additions & 0 deletions registration/include/pcl/registration/registration.h
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Expand Up @@ -609,6 +609,19 @@ namespace pcl
private:
/** \brief The point representation used (internal). */
PointRepresentationConstPtr point_representation_;

/**
* \brief Remove from public API in favor of \ref setInputSource
*
* Still gives the correct result (with a warning)
*/
void setInputCloud (const PointCloudSourceConstPtr &cloud) override
{
PCL_WARN ("[pcl::registration::Registration] setInputCloud is deprecated."
"Please use setInputSource instead.\n");
setInputSource (cloud);
}

public:
PCL_MAKE_ALIGNED_OPERATOR_NEW
};
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