41#ifndef PCL_REGISTRATION_IMPL_PAIRWISE_GRAPH_REGISTRATION_HPP_
42#define PCL_REGISTRATION_IMPL_PAIRWISE_GRAPH_REGISTRATION_HPP_
46template <
typename GraphT,
typename Po
intT>
48PairwiseGraphRegistration<GraphT, PointT>::computeRegistration()
50 if (!registration_method_) {
51 PCL_ERROR(
"[pcl::PairwiseGraphRegistration::computeRegistration] No registration "
56 typename std::vector<GraphHandlerVertex>::iterator
last_vx_it =
57 last_vertices_.begin();
58 if (last_aligned_vertex_ == boost::graph_traits<GraphT>::null_vertex()) {
64 registration_method_->setInputTarget(
65 boost::get_cloud<PointT>(last_aligned_vertex_, *(graph_handler_->getGraph())));
67 registration_method_->setInputCloud(
68 boost::get_cloud<PointT>(*
last_vx_it, *(graph_handler_->getGraph())));
71 boost::get_pose(last_aligned_vertex_, *(graph_handler_->getGraph()));
73 const Eigen::Matrix4f
guess =
75 boost::get_pose(*
last_vx_it, *(graph_handler_->getGraph()));
83 boost::set_estimate<PointT>(
86 registration_method_->setInputTarget(
87 boost::get_cloud<PointT>(last_aligned_vertex_, *(graph_handler_->getGraph())));
Iterator class for point clouds with or without given indices.
ConstCloudIterator(const PointCloud< PointT > &cloud)