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fix return value of computeCloud2CloudDistance #129

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Merged
dgirardeau merged 1 commit into from
May 1, 2026
Merged

fix return value of computeCloud2CloudDistance #129

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5 changes: 3 additions & 2 deletions include/DistanceComputationTools.h
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Original file line number Diff line number Diff line change
Expand Up @@ -133,7 +133,8 @@ namespace CCCoreLib
\param compOctree the pre-computed octree of the compared cloud (warning: both octrees must have the same cubical bounding-box - it is automatically computed if 0)
\param refOctree the pre-computed octree of the reference cloud (warning: both octrees must have the same cubical bounding-box - it is automatically computed if 0)

\return 0 if ok, a negative value otherwise
\return DISTANCE_COMPUTATION_RESULTS::SUCCESS on success,
a negative error code from DISTANCE_COMPUTATION_RESULTS otherwise.
**/
static int computeCloud2CloudDistances( GenericIndexedCloudPersist* comparedCloud,
GenericIndexedCloudPersist* referenceCloud,
Expand Down Expand Up @@ -522,7 +523,7 @@ namespace CCCoreLib
ERROR_UNKOWN_ERRORMEASURES_TYPE,
ERROR_INTERNAL,
INVALID_INPUT,
SUCCESS = 1,
SUCCESS = 0,
};

//! Computes the "distance" (see ERROR_MEASURES) between a point cloud and a plane
Expand Down
4 changes: 4 additions & 0 deletions src/DistanceComputationTools.cpp
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Expand Up @@ -235,6 +235,10 @@ int DistanceComputationTools::computeCloud2CloudDistances( GenericIndexedCloudPe
//something went wrong
result = DISTANCE_COMPUTATION_RESULTS::ERROR_EXECUTE_FUNCTION_FOR_ALL_CELLS_AT_LEVEL_FAILURE;
}
else
{
result = DISTANCE_COMPUTATION_RESULTS::SUCCESS;
}


if (comparedOctree && !compOctree)
Expand Down
10 changes: 6 additions & 4 deletions src/RegistrationTools.cpp
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Expand Up @@ -383,7 +383,8 @@ ICPRegistrationTools::RESULT_TYPE ICPRegistrationTools::Register( GenericIndexed
DistanceComputationTools::Cloud2CloudDistancesComputationParams c2cDistParams;
c2cDistParams.CPSet = data.CPSetRef;
c2cDistParams.maxThreadCount = params.maxThreadCount;
if (DistanceComputationTools::computeCloud2CloudDistances(data.cloud, model.cloud, c2cDistParams, progressCb) < 0)
if (DistanceComputationTools::computeCloud2CloudDistances(data.cloud, model.cloud, c2cDistParams, progressCb) <
DistanceComputationTools::DISTANCE_COMPUTATION_RESULTS::SUCCESS)
{
//an error occurred during distances computation...
return ICP_ERROR_DIST_COMPUTATION;
Expand Down Expand Up @@ -654,7 +655,7 @@ ICPRegistrationTools::RESULT_TYPE ICPRegistrationTools::Register( GenericIndexed
{
//retrieve the data point normal
const CCVector3* Nd = data.cloud->getNormal(i);

//retrieve the nearest model point normal
CCVector3 Nm;
if (inputModelMesh)
Expand Down Expand Up @@ -951,7 +952,8 @@ ICPRegistrationTools::RESULT_TYPE ICPRegistrationTools::Register( GenericIndexed
DistanceComputationTools::Cloud2CloudDistancesComputationParams c2cDistParams;
c2cDistParams.CPSet = data.CPSetRef;
c2cDistParams.maxThreadCount = params.maxThreadCount;
if (DistanceComputationTools::computeCloud2CloudDistances(data.cloud, model.cloud, c2cDistParams) < 0)
if (DistanceComputationTools::computeCloud2CloudDistances(data.cloud, model.cloud, c2cDistParams) <
DistanceComputationTools::DISTANCE_COMPUTATION_RESULTS::SUCCESS)
{
//an error occurred during distances computation...
result = ICP_ERROR_REGISTRATION_STEP;
Expand Down Expand Up @@ -1155,7 +1157,7 @@ bool RegistrationTools::RegistrationProcedure( GenericCloud* P, //data
{
return false;
}

PointCoordinateType sin_t = static_cast<PointCoordinateType>(S / Q);
PointCoordinateType cos_t = static_cast<PointCoordinateType>(C / Q);
PointCoordinateType inv_cos_t = 1 - cos_t;
Expand Down
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