Point Cloud Library (PCL)  1.14.1-dev
pairwise_graph_registration.hpp
1 /*
2  * Software License Agreement (BSD License)
3  *
4  * Point Cloud Library (PCL) - www.pointclouds.org
5  * Copyright (c) 2010-2011, Willow Garage, Inc.
6  * Copyright (c) 2012-, Open Perception, Inc.
7  *
8  * All rights reserved.
9  *
10  * Redistribution and use in source and binary forms, with or without
11  * modification, are permitted provided that the following conditions
12  * are met:
13  *
14  * * Redistributions of source code must retain the above copyright
15  * notice, this list of conditions and the following disclaimer.
16  * * Redistributions in binary form must reproduce the above
17  * copyright notice, this list of conditions and the following
18  * disclaimer in the documentation and/or other materials provided
19  * with the distribution.
20  * * Neither the name of the copyright holder(s) nor the names of its
21  * contributors may be used to endorse or promote products derived
22  * from this software without specific prior written permission.
23  *
24  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
25  * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
26  * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
27  * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
28  * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
29  * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
30  * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
31  * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
32  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
33  * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
34  * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
35  * POSSIBILITY OF SUCH DAMAGE.
36  *
37  * $Id$
38  *
39  */
40 
41 #ifndef PCL_REGISTRATION_IMPL_PAIRWISE_GRAPH_REGISTRATION_HPP_
42 #define PCL_REGISTRATION_IMPL_PAIRWISE_GRAPH_REGISTRATION_HPP_
43 
44 namespace pcl {
45 
46 template <typename GraphT, typename PointT>
47 void
48 PairwiseGraphRegistration<GraphT, PointT>::computeRegistration()
49 {
50  if (!registration_method_) {
51  PCL_ERROR("[pcl::PairwiseGraphRegistration::computeRegistration] No registration "
52  "method set!\n");
53  return;
54  }
55 
56  typename std::vector<GraphHandlerVertex>::iterator last_vx_it =
57  last_vertices_.begin();
58  if (last_aligned_vertex_ == boost::graph_traits<GraphT>::null_vertex()) {
59  last_aligned_vertex_ = *last_vx_it;
60  ++last_vx_it;
61  }
62 
63  pcl::PointCloud<PointT> fake_cloud;
64  registration_method_->setInputTarget(
65  boost::get_cloud<PointT>(last_aligned_vertex_, *(graph_handler_->getGraph())));
66  for (; last_vx_it < last_vertices_.end(); ++last_vx_it) {
67  registration_method_->setInputCloud(
68  boost::get_cloud<PointT>(*last_vx_it, *(graph_handler_->getGraph())));
69 
70  const Eigen::Matrix4f last_aligned_vertex_pose =
71  boost::get_pose(last_aligned_vertex_, *(graph_handler_->getGraph()));
72  if (!incremental_) {
73  const Eigen::Matrix4f guess =
74  last_aligned_vertex_pose.transpose() *
75  boost::get_pose(*last_vx_it, *(graph_handler_->getGraph()));
76  registration_method_->align(fake_cloud, guess);
77  }
78  else
79  registration_method_->align(fake_cloud);
80 
81  const Eigen::Matrix4f global_ref_final_tr =
82  last_aligned_vertex_pose * registration_method_->getFinalTransformation();
83  boost::set_estimate<PointT>(
84  *last_vx_it, global_ref_final_tr, *(graph_handler_->getGraph()));
85  last_aligned_vertex_ = *last_vx_it;
86  registration_method_->setInputTarget(
87  boost::get_cloud<PointT>(last_aligned_vertex_, *(graph_handler_->getGraph())));
88  }
89 }
90 
91 } // namespace pcl
92 
93 #endif // PCL_REGISTRATION_IMPL_PAIRWISE_GRAPH_REGISTRATION_HPP_
PointCloud represents the base class in PCL for storing collections of 3D points.
Definition: point_cloud.h:173