pairwise_graph_registration.hpp
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#ifndef PCL_REGISTRATION_IMPL_PAIRWISE_GRAPH_REGISTRATION_HPP_
#define PCL_REGISTRATION_IMPL_PAIRWISE_GRAPH_REGISTRATION_HPP_
namespace pcl {
template <typename GraphT, typename PointT>
void
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())));
}
}
} // namespace pcl
#endif // PCL_REGISTRATION_IMPL_PAIRWISE_GRAPH_REGISTRATION_HPP_
pcl::PointCloud
PointCloud represents the base class in PCL for storing collections of 3D points.
Definition: point_cloud.h:173
pcl
Definition: convolution.h:46