From 209fd2abea5b2226f1d75143b35f805d6d4c0d4b Mon Sep 17 00:00:00 2001
From: "k.koide" <k.koide@aist.go.jp>
Date: Mon, 15 Apr 2024 16:32:05 +0900
Subject: [PATCH] revert

---
 CMakeLists.txt                                    | 2 +-
 include/small_gicp/registration/reduction_omp.hpp | 4 ++--
 include/small_gicp/util/downsampling_omp.hpp      | 4 ++--
 include/small_gicp/util/normal_estimation_omp.hpp | 4 ++--
 4 files changed, 7 insertions(+), 7 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 454d87b..f1a039f 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -131,7 +131,7 @@ if(BUILD_PYTHON_BINDINGS)
   find_package(Python COMPONENTS Interpreter Development)
   find_package(pybind11 CONFIG REQUIRED)
 
-  pybind11_add_module(small_gicp_python SHARED src/python/python.cpp)
+  pybind11_add_module(small_gicp_python src/python/python.cpp)
   set_target_properties(small_gicp_python PROPERTIES OUTPUT_NAME small_gicp)
   target_link_libraries(small_gicp_python PRIVATE small_gicp)
 endif()
diff --git a/include/small_gicp/registration/reduction_omp.hpp b/include/small_gicp/registration/reduction_omp.hpp
index 8c11267..d8a21bd 100644
--- a/include/small_gicp/registration/reduction_omp.hpp
+++ b/include/small_gicp/registration/reduction_omp.hpp
@@ -30,7 +30,7 @@ struct ParallelReductionOMP {
     std::vector<double> es(num_threads, 0.0);
 
 #pragma omp parallel for num_threads(num_threads) schedule(guided, 8)
-    for (std::int64_t i = 0; i < factors.size(); i++) {
+    for (size_t i = 0; i < factors.size(); i++) {
       Eigen::Matrix<double, 6, 6> H;
       Eigen::Matrix<double, 6, 1> b;
       double e;
@@ -59,7 +59,7 @@ struct ParallelReductionOMP {
     double sum_e = 0.0;
 
 #pragma omp parallel for num_threads(num_threads) schedule(guided, 8) reduction(+ : sum_e)
-    for (std::int64_t i = 0; i < factors.size(); i++) {
+    for (size_t i = 0; i < factors.size(); i++) {
       sum_e += factors[i].error(target, source, T);
     }
     return sum_e;
diff --git a/include/small_gicp/util/downsampling_omp.hpp b/include/small_gicp/util/downsampling_omp.hpp
index feac26c..de5d8fa 100644
--- a/include/small_gicp/util/downsampling_omp.hpp
+++ b/include/small_gicp/util/downsampling_omp.hpp
@@ -31,7 +31,7 @@ std::shared_ptr<OutputPointCloud> voxelgrid_sampling_omp(const InputPointCloud&
 
   std::vector<std::pair<std::uint64_t, size_t>> coord_pt(points.size());
 #pragma omp parallel for num_threads(num_threads) schedule(guided, 32)
-  for (std::int64_t i = 0; i < traits::size(points); i++) {
+  for (size_t i = 0; i < traits::size(points); i++) {
     const Eigen::Array4i coord = fast_floor(traits::point(points, i) * inv_leaf_size) + coord_offset;
     if ((coord < 0).any() || (coord > coord_bit_mask).any()) {
       std::cerr << "warning: voxel coord is out of range!!" << std::endl;
@@ -61,7 +61,7 @@ std::shared_ptr<OutputPointCloud> voxelgrid_sampling_omp(const InputPointCloud&
   std::atomic_uint64_t num_points = 0;
 
 #pragma omp parallel for num_threads(num_threads) schedule(guided, 4)
-  for (std::int64_t block_begin = 0; block_begin < traits::size(points); block_begin += block_size) {
+  for (size_t block_begin = 0; block_begin < traits::size(points); block_begin += block_size) {
     std::vector<Eigen::Vector4d> sub_points;
     sub_points.reserve(block_size);
 
diff --git a/include/small_gicp/util/normal_estimation_omp.hpp b/include/small_gicp/util/normal_estimation_omp.hpp
index 9b40f8e..df873b6 100644
--- a/include/small_gicp/util/normal_estimation_omp.hpp
+++ b/include/small_gicp/util/normal_estimation_omp.hpp
@@ -11,7 +11,7 @@ void estimate_local_features_omp(PointCloud& cloud, int num_neighbors, int num_t
   traits::resize(cloud, traits::size(cloud));
   UnsafeKdTree<PointCloud> kdtree(cloud);
 #pragma omp parallel for num_threads(num_threads)
-  for (std::int64_t i = 0; i < traits::size(cloud); i++) {
+  for (size_t i = 0; i < traits::size(cloud); i++) {
     estimate_local_features<Setter>(cloud, kdtree, num_neighbors, i);
   }
 }
@@ -20,7 +20,7 @@ template <typename Setter, typename PointCloud, typename KdTree>
 void estimate_local_features_omp(PointCloud& cloud, KdTree& kdtree, int num_neighbors, int num_threads) {
   traits::resize(cloud, traits::size(cloud));
 #pragma omp parallel for num_threads(num_threads)
-  for (std::int64_t i = 0; i < traits::size(cloud); i++) {
+  for (size_t i = 0; i < traits::size(cloud); i++) {
     estimate_local_features<Setter>(cloud, kdtree, num_neighbors, i);
   }
 }