Point Cloud Library (PCL)  1.11.0
pairwise_graph_registration.hpp
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40 
41 #ifndef PCL_REGISTRATION_IMPL_PAIRWISE_GRAPH_REGISTRATION_HPP_
42 #define PCL_REGISTRATION_IMPL_PAIRWISE_GRAPH_REGISTRATION_HPP_
43 
44 
45 namespace pcl
46 {
47 
48 template <typename GraphT, typename PointT> void
49 PairwiseGraphRegistration<GraphT, PointT>::computeRegistration ()
50 {
51  if (!registration_method_)
52  {
53  PCL_ERROR ("[pcl::PairwiseGraphRegistration::computeRegistration] No registration method set!\n");
54  return;
55  }
56 
57  typename std::vector<GraphHandlerVertex>::iterator last_vx_it = last_vertices_.begin ();
58  if (last_aligned_vertex_ == boost::graph_traits<GraphT>::null_vertex ())
59  {
60  last_aligned_vertex_ = *last_vx_it;
61  ++last_vx_it;
62  }
63 
64  pcl::PointCloud<PointT> fake_cloud;
65  registration_method_->setInputTarget (boost::get_cloud<PointT> (last_aligned_vertex_, *(graph_handler_->getGraph ())));
66  for(; last_vx_it < last_vertices_.end (); ++last_vx_it)
67  {
68  registration_method_->setInputCloud (boost::get_cloud<PointT> (*last_vx_it, *(graph_handler_->getGraph ())));
69 
70  const Eigen::Matrix4f last_aligned_vertex_pose = boost::get_pose (last_aligned_vertex_, *(graph_handler_->getGraph ()));
71  if (!incremental_)
72  {
73  const Eigen::Matrix4f guess = last_aligned_vertex_pose.transpose () * boost::get_pose (*last_vx_it, *(graph_handler_->getGraph ()));
74  registration_method_->align (fake_cloud, guess);
75  } else
76  registration_method_->align (fake_cloud);
77 
78  const Eigen::Matrix4f global_ref_final_tr = last_aligned_vertex_pose * registration_method_->getFinalTransformation ();
79  boost::set_estimate<PointT> (*last_vx_it, global_ref_final_tr, *(graph_handler_->getGraph ()));
80  last_aligned_vertex_ = *last_vx_it;
81  registration_method_->setInputTarget (boost::get_cloud<PointT> (last_aligned_vertex_, *(graph_handler_->getGraph ())));
82  }
83 }
84 
85 } // namespace pcl
86 
87 #endif //PCL_REGISTRATION_IMPL_PAIRWISE_GRAPH_REGISTRATION_HPP_
88 
pcl
Definition: convolution.h:46
pcl::PointCloud
PointCloud represents the base class in PCL for storing collections of 3D points.
Definition: projection_matrix.h:52