94 lines
3.6 KiB
C++
94 lines
3.6 KiB
C++
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/*
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* Software License Agreement (BSD License)
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*
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* Point Cloud Library (PCL) - www.pointclouds.org
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* Copyright (c) 2010-2011, Willow Garage, Inc.
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* Copyright (c) 2012-, Open Perception, Inc.
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*
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of the copyright holder(s) nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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* $Id$
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*
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*/
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#ifndef PCL_REGISTRATION_IMPL_PAIRWISE_GRAPH_REGISTRATION_HPP_
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#define PCL_REGISTRATION_IMPL_PAIRWISE_GRAPH_REGISTRATION_HPP_
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namespace pcl {
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template <typename GraphT, typename PointT>
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void
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PairwiseGraphRegistration<GraphT, PointT>::computeRegistration()
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{
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if (!registration_method_) {
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PCL_ERROR("[pcl::PairwiseGraphRegistration::computeRegistration] No registration "
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"method set!\n");
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return;
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}
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typename std::vector<GraphHandlerVertex>::iterator last_vx_it =
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last_vertices_.begin();
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if (last_aligned_vertex_ == boost::graph_traits<GraphT>::null_vertex()) {
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last_aligned_vertex_ = *last_vx_it;
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++last_vx_it;
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}
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pcl::PointCloud<PointT> fake_cloud;
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registration_method_->setInputTarget(
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boost::get_cloud<PointT>(last_aligned_vertex_, *(graph_handler_->getGraph())));
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for (; last_vx_it < last_vertices_.end(); ++last_vx_it) {
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registration_method_->setInputCloud(
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boost::get_cloud<PointT>(*last_vx_it, *(graph_handler_->getGraph())));
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const Eigen::Matrix4f last_aligned_vertex_pose =
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boost::get_pose(last_aligned_vertex_, *(graph_handler_->getGraph()));
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if (!incremental_) {
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const Eigen::Matrix4f guess =
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last_aligned_vertex_pose.transpose() *
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boost::get_pose(*last_vx_it, *(graph_handler_->getGraph()));
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registration_method_->align(fake_cloud, guess);
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}
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else
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registration_method_->align(fake_cloud);
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const Eigen::Matrix4f global_ref_final_tr =
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last_aligned_vertex_pose * registration_method_->getFinalTransformation();
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boost::set_estimate<PointT>(
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*last_vx_it, global_ref_final_tr, *(graph_handler_->getGraph()));
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last_aligned_vertex_ = *last_vx_it;
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registration_method_->setInputTarget(
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boost::get_cloud<PointT>(last_aligned_vertex_, *(graph_handler_->getGraph())));
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}
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}
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} // namespace pcl
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#endif // PCL_REGISTRATION_IMPL_PAIRWISE_GRAPH_REGISTRATION_HPP_
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