From 0067649367fba36cd5d2b81763beccc711b4c178 Mon Sep 17 00:00:00 2001
From: Sebastian Hahta <joseha@utu.fi>
Date: Thu, 6 Jun 2019 17:10:18 +0300
Subject: [PATCH] comments & documentation
---
applications/reconstruct/include/ftl/registration.hpp | 2 +-
applications/reconstruct/src/registration.cpp | 3 ++-
2 files changed, 3 insertions(+), 2 deletions(-)
diff --git a/applications/reconstruct/include/ftl/registration.hpp b/applications/reconstruct/include/ftl/registration.hpp
index 500616b53..547751b7f 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 abe5f95b2..9ca5c8921 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));
--
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