// Set the given cloud as the target to which the templates will be aligned void setTargetCloud (FeatureCloud &target_cloud) { target_ = target_cloud; sac_ia_.setInputTarget (target_cloud.getPointCloud ()); sac_ia_.setTargetFeatures (target_cloud.getLocalFeatures ()); }
void TemplateAlignment::align( FeatureCloud &template_cloud, TemplateAlignment::Result &result ) { sac_ia_.setInputCloud( template_cloud.getPointCloud() ); sac_ia_.setSourceFeatures( template_cloud.getLocalFeatures() ); pcl::PointCloud<pcl::PointXYZ> registration_output; sac_ia_.align( registration_output ); result.fitness_score = (float)sac_ia_.getFitnessScore( max_correspondence_distance_ ); result.final_transformation = sac_ia_.getFinalTransformation(); }
void TemplateAlignment::setTargetCloud( FeatureCloud &target_cloud ) { target_ = target_cloud; sac_ia_.setInputTarget( target_cloud.getPointCloud() ); sac_ia_.setTargetFeatures( target_cloud.getLocalFeatures() ); }