add explicit instantiations to transformation estimation LM and one to ICP (#6258)

* add explicit instantiation to transformation estimation LM

* instantiate icp with normal point type, for use with transformation estimation point2plane

* Formatting

* Add missing cloud index in registration neighbour search

* Update registration/include/pcl/registration/transformation_estimation_lm.h

Co-authored-by: Markus Vieth <[email protected]>

* Update registration/include/pcl/registration/registration.h

Co-authored-by: Markus Vieth <[email protected]>

* Use nearestKSearchT in registration.hpp

* fix icp explicit instantiations

---------

Co-authored-by: Markus Vieth <[email protected]>

Author: themightyoarfish

Diff for: registration/include/pcl/registration/icp.h

@@ -463,4 +463,5 @@ class IterativeClosestPointWithNormals
 extern template class pcl::IterativeClosestPoint<pcl::PointXYZ, pcl::PointXYZ>;
 extern template class pcl::IterativeClosestPoint<pcl::PointXYZI, pcl::PointXYZI>;
 extern template class pcl::IterativeClosestPoint<pcl::PointXYZRGB, pcl::PointXYZRGB>;
+extern template class pcl::IterativeClosestPoint<pcl::PointXYZ, pcl::PointNormal>;
 #endif // PCL_NO_PRECOMPILE

Diff for: registration/include/pcl/registration/impl/registration.hpp

@@ -148,7 +148,7 @@ Registration<PointSource, PointTarget, Scalar>::getFitnessScore(double max_range
     if (!input_->is_dense && !pcl::isXYZFinite(point))
       continue;
     // Find its nearest neighbor in the target
-    tree_->nearestKSearch(point, 1, nn_indices, nn_dists);
+    tree_->nearestKSearchT(point, 1, nn_indices, nn_dists);
 
     // Deal with occlusions (incomplete targets)
     if (nn_dists[0] <= max_range) {
@@ -216,4 +216,4 @@ Registration<PointSource, PointTarget, Scalar>::align(PointCloudSource& output,
   deinitCompute();
 }
 
-} // namespace pcl
+} // namespace pcl

Diff for: registration/include/pcl/registration/registration.h

@@ -665,7 +665,7 @@ class Registration : public PCLBase<PointSource> {
                      pcl::Indices& indices,
                      std::vector<float>& distances)
   {
-    int k = tree_->nearestKSearch(cloud, index, 1, indices, distances);
+    int k = tree_->nearestKSearchT(cloud[index], 1, indices, distances);
     if (k == 0)
       return (false);
     return (true);

Diff for: registration/include/pcl/registration/transformation_estimation_lm.h

@@ -349,3 +349,13 @@ class TransformationEstimationLM
 } // namespace pcl
 
 #include <pcl/registration/impl/transformation_estimation_lm.hpp>
+
+#if !defined(PCL_NO_PRECOMPILE) &&                                                     \
+    !defined(PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_LM_CPP_)
+extern template class pcl::registration::TransformationEstimationLM<pcl::PointXYZ,
+                                                                    pcl::PointXYZ>;
+extern template class pcl::registration::TransformationEstimationLM<pcl::PointXYZI,
+                                                                    pcl::PointXYZI>;
+extern template class pcl::registration::TransformationEstimationLM<pcl::PointXYZRGB,
+                                                                    pcl::PointXYZRGB>;
+#endif // PCL_NO_PRECOMPILE

Diff for: registration/src/icp.cpp

@@ -48,4 +48,5 @@ template class PCL_EXPORTS pcl::IterativeClosestPoint<pcl::PointXYZ, pcl::PointX
 template class PCL_EXPORTS pcl::IterativeClosestPoint<pcl::PointXYZI, pcl::PointXYZI>;
 template class PCL_EXPORTS
     pcl::IterativeClosestPoint<pcl::PointXYZRGB, pcl::PointXYZRGB>;
+template class PCL_EXPORTS pcl::IterativeClosestPoint<pcl::PointXYZ, pcl::PointNormal>;
 #endif // PCL_NO_PRECOMPILE

Diff for: registration/src/transformation_estimation_lm.cpp

@@ -36,4 +36,17 @@
  *
  */
 
+#define PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_LM_CPP_
 #include <pcl/registration/transformation_estimation_lm.h>
+#include <pcl/pcl_config.h> // for PCL_NO_PRECOMPILE
+
+#ifndef PCL_NO_PRECOMPILE
+#include <pcl/pcl_exports.h> // for PCL_EXPORTS
+#include <pcl/point_types.h>
+template class PCL_EXPORTS
+    pcl::registration::TransformationEstimationLM<pcl::PointXYZ, pcl::PointXYZ>;
+template class PCL_EXPORTS
+    pcl::registration::TransformationEstimationLM<pcl::PointXYZI, pcl::PointXYZI>;
+template class PCL_EXPORTS
+    pcl::registration::TransformationEstimationLM<pcl::PointXYZRGB, pcl::PointXYZRGB>;
+#endif // PCL_NO_PRECOMPILE