Skip to content

Add a toggle in getFitnessScore to respect user-provided indices in Registration#6441

Open
AlrIsmail wants to merge 1 commit into
PointCloudLibrary:masterfrom
AlrIsmail:fix-registration-fitness-score-indices
Open

Add a toggle in getFitnessScore to respect user-provided indices in Registration#6441
AlrIsmail wants to merge 1 commit into
PointCloudLibrary:masterfrom
AlrIsmail:fix-registration-fitness-score-indices

Conversation

@AlrIsmail
Copy link
Copy Markdown
Contributor

This PR resolves #6437 where Registration::getFitnessScore() completely ignored the indices_ member set via setIndices(). Previously, it evaluated the fitness score across the entire source cloud without a direct way to limit it.

Changes:

  • Added an optional use_indices = false parameter to pcl::Registration::getFitnessScore.
  • Updated the getFitnessScore implementation in impl/registration.hpp so that when use_indices = true and indices_ are present
  • Added TEST(PCL, Registration_getFitnessScore_Indices) in test_registration.cpp

@AlrIsmail AlrIsmail force-pushed the fix-registration-fitness-score-indices branch from e2a2750 to f699bd9 Compare May 11, 2026 19:38
Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment

Labels

None yet

Projects

None yet

Development

Successfully merging this pull request may close these issues.

[registration] getFitnessScore() does not respect setIndices in pcl::Registration

1 participant