pairwise_graph_registration.hpp
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#ifndef PCL_REGISTRATION_IMPL_PAIRWISE_GRAPH_REGISTRATION_HPP_
#define PCL_REGISTRATION_IMPL_PAIRWISE_GRAPH_REGISTRATION_HPP_
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
template <typename GraphT, typename PointT> void
pcl::PairwiseGraphRegistration<GraphT, PointT>::computeRegistration ()
{
if (!registration_method_)
{
PCL_ERROR ("[pcl::PairwiseGraphRegistration::computeRegistration] No registration method set!\n");
return;
}
typename std::vector<GraphHandlerVertex>::iterator last_vx_it = last_vertices_.begin ();
if (last_aligned_vertex_ == boost::graph_traits<GraphT>::null_vertex ())
{
last_aligned_vertex_ = *last_vx_it;
++last_vx_it;
}
pcl::PointCloud<PointT> fake_cloud;
registration_method_->setInputTarget (boost::get_cloud<PointT> (last_aligned_vertex_, *(graph_handler_->getGraph ())));
for(; last_vx_it < last_vertices_.end (); ++last_vx_it)
{
registration_method_->setInputCloud (boost::get_cloud<PointT> (*last_vx_it, *(graph_handler_->getGraph ())));
const Eigen::Matrix4f last_aligned_vertex_pose = boost::get_pose (last_aligned_vertex_, *(graph_handler_->getGraph ()));
if (!incremental_)
{
const Eigen::Matrix4f guess = last_aligned_vertex_pose.transpose () * boost::get_pose (*last_vx_it, *(graph_handler_->getGraph ()));
registration_method_->align (fake_cloud, guess);
} else
registration_method_->align (fake_cloud);
const Eigen::Matrix4f global_ref_final_tr = last_aligned_vertex_pose * registration_method_->getFinalTransformation ();
boost::set_estimate<PointT> (*last_vx_it, global_ref_final_tr, *(graph_handler_->getGraph ()));
last_aligned_vertex_ = *last_vx_it;
registration_method_->setInputTarget (boost::get_cloud<PointT> (last_aligned_vertex_, *(graph_handler_->getGraph ())));
}
}
#endif //PCL_REGISTRATION_IMPL_PAIRWISE_GRAPH_REGISTRATION_HPP_
pcl::PointCloud
PointCloud represents the base class in PCL for storing collections of 3D points.
Definition: projection_matrix.h:52
pcl::PairwiseGraphRegistration
PairwiseGraphRegistration class aligns the clouds two by two
Definition: pairwise_graph_registration.h:53