Merge branch 'tier4/main' into refactor/multigrid_ndt_omp

tier4 · Mar 19, 2024 · b476f10 · b476f10
2 parents daa3591 + 110d4e5
commit b476f10
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Showing 2 changed files with 1 addition and 5 deletions.
diff --git a/include/multigrid_pclomp/multigrid_ndt_omp.h b/include/multigrid_pclomp/multigrid_ndt_omp.h
@@ -302,7 +302,7 @@ class MultiGridNormalDistributionsTransform : public pcl::Registration<PointSour
     params_.max_iterations = max_iterations;
     max_iterations_ = params_.max_iterations;
   }
-
+  
   inline int getMaxIterations() const {
     return params_.max_iterations;
   }

diff --git a/include/multigrid_pclomp/multigrid_ndt_omp_impl.hpp b/include/multigrid_pclomp/multigrid_ndt_omp_impl.hpp
@@ -56,8 +56,6 @@
 #ifndef PCL_REGISTRATION_NDT_OMP_MULTI_VOXEL_IMPL_H_
 #define PCL_REGISTRATION_NDT_OMP_MULTI_VOXEL_IMPL_H_
 
-#include <fstream>
-
 namespace pclomp {
 
 template<typename PointSource, typename PointTarget>
@@ -542,8 +540,6 @@ double MultiGridNormalDistributionsTransform<PointSource, PointTarget>::updateDe
 
   c_inv4.topLeftCorner(3, 3) = c_inv;
 
-  double gauss_d2 = gauss_d2_;
-
   // e^(-d_2/2 * (x_k - mu_k)^T Sigma_k^-1 (x_k - mu_k)) Equation 6.9 [Magnusson 2009]
   double e_x_cov_x = exp(-gauss_d2 * x_trans4.dot(x_trans4 * c_inv4) * 0.5f);
   // Calculate probability of transformed points existence, Equation 6.9 [Magnusson 2009]