diff --git a/applications/reconstruct/include/ftl/registration.hpp b/applications/reconstruct/include/ftl/registration.hpp index 500616b5375b9f2a76b0260478e8caeb4d3032a5..547751b7f692abdb8cebb60e3c2827705feb353b 100644 --- a/applications/reconstruct/include/ftl/registration.hpp +++ b/applications/reconstruct/include/ftl/registration.hpp @@ -180,7 +180,7 @@ protected: }; /** - * @brief Chain registration. Finds visibility and then runs pairwise registration. + * @brief Chain registration. Finds visibility and then runs registration. */ class ChessboardRegistrationChain : public ChessboardRegistration { public: diff --git a/applications/reconstruct/src/registration.cpp b/applications/reconstruct/src/registration.cpp index abe5f95b249f12e38d44190f787896add2797d89..9ca5c8921517eb8f8ab07b910e0f4ebd28b6b961 100644 --- a/applications/reconstruct/src/registration.cpp +++ b/applications/reconstruct/src/registration.cpp @@ -532,6 +532,8 @@ bool ChessboardRegistrationChain::processData() { } bool ChessboardRegistrationChain::findTransformations(vector<Matrix4f> &data) { + // TODO Change to group registration: register all sources which have visibility + // to the target source in chain. LOG(INFO) << "Running pairwise registration"; data = vector<Matrix4f>(getSourcesCount(), Matrix4f::Identity()); @@ -541,7 +543,6 @@ bool ChessboardRegistrationChain::findTransformations(vector<Matrix4f> &data) { conf["targetsource"] = getSource(edge.first)->getURI(); conf["chain"] = false; - vector<Matrix4f> result; ChessboardRegistration reg(conf); reg.addSource(getSource(edge.first));