From 86fcee580c01bed3c18ced4947bead025f715cc5 Mon Sep 17 00:00:00 2001
From: theilerp <theilerp@ethz.ch>
Date: Wed, 18 Mar 2015 08:40:20 +0100
Subject: [PATCH] Removed second 'kdtree' integration in fpcs and kfpcs tests

+ minor correction of commented code part
---
 registration/include/pcl/registration/impl/ia_kfpcs.hpp | 2 +-
 test/registration/CMakeLists.txt                        | 4 ++--
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/registration/include/pcl/registration/impl/ia_kfpcs.hpp b/registration/include/pcl/registration/impl/ia_kfpcs.hpp
index e2a51ada8c7..4ecc897d2bd 100644
--- a/registration/include/pcl/registration/impl/ia_kfpcs.hpp
+++ b/registration/include/pcl/registration/impl/ia_kfpcs.hpp
@@ -152,7 +152,7 @@ pcl::registration::KFPCSInitialAlignment <PointSource, PointTarget, NormalT, Sca
   }
 
   score_a /= (max_inlier_dist_sqr_ * nr_points); // MSAC
-  //score_a = 1.f - ((1.f - score_a) / approx_overlap_); // make score relative to estimated overlap
+  //score_a = 1.f - (1.f - score_a) / (1.f - approx_overlap_); // make score relative to estimated overlap
 
   // translation score (solutions with small translation are down-voted)
   float scale = 1.f;
diff --git a/test/registration/CMakeLists.txt b/test/registration/CMakeLists.txt
index 7a7da5c92c1..7a4dd2c7733 100644
--- a/test/registration/CMakeLists.txt
+++ b/test/registration/CMakeLists.txt
@@ -23,10 +23,10 @@ PCL_ADD_TEST(correspondence_rejectors test_correspondence_rejectors
 
 PCL_ADD_TEST(fpcs_ia test_fpcs_ia
              FILES test_fpcs_ia.cpp test_fpcs_ia_data.h
-             LINK_WITH pcl_gtest pcl_io pcl_registration pcl_features pcl_search pcl_kdtree pcl_kdtree
+             LINK_WITH pcl_gtest pcl_io pcl_registration pcl_features pcl_search pcl_kdtree
              ARGUMENTS "${PCL_SOURCE_DIR}/test/bun0.pcd" "${PCL_SOURCE_DIR}/test/bun4.pcd")
              
 PCL_ADD_TEST(kfpcs_ia test_kfpcs_ia
 	     FILES test_kfpcs_ia.cpp test_kfpcs_ia_data.h
-	     LINK_WITH pcl_gtest pcl_io pcl_registration pcl_features pcl_search pcl_kdtree pcl_kdtree
+	     LINK_WITH pcl_gtest pcl_io pcl_registration pcl_features pcl_search pcl_kdtree
 	     ARGUMENTS "${PCL_SOURCE_DIR}/test/office1_keypoints.pcd" "${PCL_SOURCE_DIR}/test/office2_keypoints.pcd")
\ No newline at end of file