Point Cloud Library (PCL)  1.8.0
pairwise_graph_registration.hpp
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40 #ifndef PCL_REGISTRATION_IMPL_PAIRWISE_GRAPH_REGISTRATION_HPP_
41 #define PCL_REGISTRATION_IMPL_PAIRWISE_GRAPH_REGISTRATION_HPP_
42 //////////////////////////////////////////////////////////////////////////////////////////////////////////////////
43 template <typename GraphT, typename PointT> void
45 {
46  if (!registration_method_)
47  {
48  PCL_ERROR ("[pcl::PairwiseGraphRegistration::computeRegistration] No registration method set!\n");
49  return;
50  }
51 
52  typename std::vector<GraphHandlerVertex>::iterator last_vx_it = last_vertices_.begin ();
53  if (last_aligned_vertex_ == boost::graph_traits<GraphT>::null_vertex ())
54  {
55  last_aligned_vertex_ = *last_vx_it;
56  ++last_vx_it;
57  }
58 
59  pcl::PointCloud<PointT> fake_cloud;
60  registration_method_->setInputTarget (boost::get_cloud<PointT> (last_aligned_vertex_, *(graph_handler_->getGraph ())));
61  for(; last_vx_it < last_vertices_.end (); ++last_vx_it)
62  {
63  registration_method_->setInputCloud (boost::get_cloud<PointT> (*last_vx_it, *(graph_handler_->getGraph ())));
64 
65  const Eigen::Matrix4f last_aligned_vertex_pose = boost::get_pose (last_aligned_vertex_, *(graph_handler_->getGraph ()));
66  if (!incremental_)
67  {
68  const Eigen::Matrix4f guess = last_aligned_vertex_pose.transpose () * boost::get_pose (*last_vx_it, *(graph_handler_->getGraph ()));
69  registration_method_->align (fake_cloud, guess);
70  } else
71  registration_method_->align (fake_cloud);
72 
73  const Eigen::Matrix4f global_ref_final_tr = last_aligned_vertex_pose * registration_method_->getFinalTransformation ();
74  boost::set_estimate<PointT> (*last_vx_it, global_ref_final_tr, *(graph_handler_->getGraph ()));
75  last_aligned_vertex_ = *last_vx_it;
76  registration_method_->setInputTarget (boost::get_cloud<PointT> (last_aligned_vertex_, *(graph_handler_->getGraph ())));
77  }
78 }
79 #endif //PCL_REGISTRATION_IMPL_PAIRWISE_GRAPH_REGISTRATION_HPP_
PairwiseGraphRegistration class aligns the clouds two by two
PointCloud represents the base class in PCL for storing collections of 3D points. ...