Merge branch 'distance_calculation_visualisation' of https://github.com/diffCheckOrg/diffCheck into distance_calculation_visualisation

Author: eleniv3d

src/diffCheck/geometry/DFPointCloud.cc

@@ -116,18 +116,6 @@ namespace diffCheck::geometry
         return cilantroPointCloud;
     }
 
-    std::vector<double> DFPointCloud::ComputeP2PDistance(std::shared_ptr<geometry::DFPointCloud> target)
-    {
-        std::vector<double> errors;
-        auto O3DSourcePointCloud = this->Cvt2O3DPointCloud();
-        auto O3DTargetPointCloud = target->Cvt2O3DPointCloud();
-        
-        std::vector<double> distances;
-
-        distances = O3DSourcePointCloud->ComputePointCloudDistance(*O3DTargetPointCloud);
-        return distances;
-    }
-
     std::vector<Eigen::Vector3d> DFPointCloud::ComputeBoundingBox()
     {
         auto O3DPointCloud = this->Cvt2O3DPointCloud();
@@ -273,6 +261,18 @@ namespace diffCheck::geometry
         this->Normals = cloud->Normals;
     }
 
+    std::vector<double> DFPointCloud::ComputeDistance(std::shared_ptr<geometry::DFPointCloud> target)
+    {
+        std::vector<double> errors;
+        auto O3DSourcePointCloud = this->Cvt2O3DPointCloud();
+        auto O3DTargetPointCloud = target->Cvt2O3DPointCloud();
+        
+        std::vector<double> distances;
+
+        distances = O3DSourcePointCloud->ComputePointCloudDistance(*O3DTargetPointCloud);
+        return distances;
+    }
+
     Eigen::Vector3d DFPointCloud::GetCenterPoint()
     {
         if (this->Points.size() == 0)

src/diffCheck/geometry/DFPointCloud.hh

@@ -154,7 +154,7 @@ namespace diffCheck::geometry
          * 
          * @see https://github.com/isl-org/Open3D/blob/main/cpp/open3d/geometry/PointCloud.cpp
          */
-        std::vector<double> ComputeDistance(const DFPointCloud &targetCloud);
+        std::vector<double> ComputeDistance(std::shared_ptr<DFPointCloud> target);
 
     public:  ///< Getters
         /// @brief Number of points in the point cloud

src/diffCheck/registrations/DFGlobalRegistrations.cc

@@ -17,7 +17,7 @@ namespace diffCheck::registrations
 
             std::shared_ptr<geometry::DFPointCloud> dfPointCloudPtrAfterTrans = std::make_shared<geometry::DFPointCloud>();
             dfPointCloudPtrAfterTrans->Cvt2DFPointCloud(o3DPointCloudAfterTrans);
-            std::vector<double> registrationErrors = dfPointCloudPtrAfterTrans->ComputeDistance(*target);
+            std::vector<double> registrationErrors = dfPointCloudPtrAfterTrans->ComputeDistance(target);
             errors.push_back(std::accumulate(registrationErrors.begin(), registrationErrors.end(), 0.0) / registrationErrors.size());
         }
         return errors;