Point Cloud Library (PCL)
1.7.0
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00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Point Cloud Library (PCL) - www.pointclouds.org 00005 * Copyright (c) 2010-2011, Willow Garage, Inc. 00006 * Copyright (c) 2012-, Open Perception, Inc. 00007 * 00008 * All rights reserved. 00009 * 00010 * Redistribution and use in source and binary forms, with or without 00011 * modification, are permitted provided that the following conditions 00012 * are met: 00013 * 00014 * * Redistributions of source code must retain the above copyright 00015 * notice, this list of conditions and the following disclaimer. 00016 * * Redistributions in binary form must reproduce the above 00017 * copyright notice, this list of conditions and the following 00018 * disclaimer in the documentation and/or other materials provided 00019 * with the distribution. 00020 * * Neither the name of the copyright holder(s) nor the names of its 00021 * contributors may be used to endorse or promote products derived 00022 * from this software without specific prior written permission. 00023 * 00024 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00025 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00026 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00027 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00028 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00029 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00030 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00031 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00032 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00033 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00034 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00035 * POSSIBILITY OF SUCH DAMAGE. 00036 * 00037 * $Id$ 00038 * 00039 */ 00040 #ifndef PCL_REGISTRATION_IMPL_PAIRWISE_GRAPH_REGISTRATION_HPP_ 00041 #define PCL_REGISTRATION_IMPL_PAIRWISE_GRAPH_REGISTRATION_HPP_ 00042 ////////////////////////////////////////////////////////////////////////////////////////////////////////////////// 00043 template <typename GraphT, typename PointT> void 00044 pcl::PairwiseGraphRegistration<GraphT, PointT>::computeRegistration () 00045 { 00046 if (!registration_method_) 00047 { 00048 PCL_ERROR ("[pcl::PairwiseGraphRegistration::computeRegistration] No registration method set!\n"); 00049 return; 00050 } 00051 00052 typename std::vector<GraphHandlerVertex>::iterator last_vx_it = last_vertices_.begin (); 00053 if (last_aligned_vertex_ == boost::graph_traits<GraphT>::null_vertex ()) 00054 { 00055 last_aligned_vertex_ = *last_vx_it; 00056 ++last_vx_it; 00057 } 00058 00059 pcl::PointCloud<PointT> fake_cloud; 00060 registration_method_->setInputTarget (boost::get_cloud<PointT> (last_aligned_vertex_, *(graph_handler_->getGraph ()))); 00061 for(; last_vx_it < last_vertices_.end (); ++last_vx_it) 00062 { 00063 registration_method_->setInputCloud (boost::get_cloud<PointT> (*last_vx_it, *(graph_handler_->getGraph ()))); 00064 00065 const Eigen::Matrix4f last_aligned_vertex_pose = boost::get_pose (last_aligned_vertex_, *(graph_handler_->getGraph ())); 00066 if (!incremental_) 00067 { 00068 const Eigen::Matrix4f guess = last_aligned_vertex_pose.transpose () * boost::get_pose (*last_vx_it, *(graph_handler_->getGraph ())); 00069 registration_method_->align (fake_cloud, guess); 00070 } else 00071 registration_method_->align (fake_cloud); 00072 00073 const Eigen::Matrix4f global_ref_final_tr = last_aligned_vertex_pose * registration_method_->getFinalTransformation (); 00074 boost::set_estimate<PointT> (*last_vx_it, global_ref_final_tr, *(graph_handler_->getGraph ())); 00075 last_aligned_vertex_ = *last_vx_it; 00076 registration_method_->setInputTarget (boost::get_cloud<PointT> (last_aligned_vertex_, *(graph_handler_->getGraph ()))); 00077 } 00078 } 00079 #endif //PCL_REGISTRATION_IMPL_PAIRWISE_GRAPH_REGISTRATION_HPP_