text: /*
   * Software License Agreement (BSD License)
   *
   *  Point Cloud Library (PCL) - www.pointclouds.org
   *  Copyright (c) 2010-2011, Willow Garage, Inc.
   *
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   *     notice, this list of conditions and the following disclaimer.
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   *     disclaimer in the documentation and/or other materials provided
   *     with the distribution.
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   *     contributors may be used to endorse or promote products derived
   *     from this software without specific prior written permission.
   *
   *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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   *
   * $Id: pairwise_graph_registration.hpp 6459 2012-07-18 07:50:37Z dpb $
   *
   */
  
  //////////////////////////////////////////////////////////////////////////////////////////////////////////////////
  template <typename GraphT, typename PointT> void
  pcl::PairwiseGraphRegistration<GraphT, PointT>::computeRegistration ()
  {
    if (!registration_method_)
    {
      PCL_ERROR ("[pcl::PairwiseGraphRegistration::computeRegistration] No registration method set!\n");
      return;
    }
  
    typename std::vector<GraphHandlerVertex>::iterator last_vx_it = last_vertices_.begin ();
    if (last_aligned_vertex_ == boost::graph_traits<GraphT>::null_vertex ())
    {
      last_aligned_vertex_ = *last_vx_it;
      ++last_vx_it;
    }
  
    pcl::PointCloud<PointT> fake_cloud;
    registration_method_->setInputTarget (boost::get_cloud<PointT> (last_aligned_vertex_, *(graph_handler_->getGraph ())));
    for(; last_vx_it < last_vertices_.end (); ++last_vx_it)
    {
      registration_method_->setInputCloud (boost::get_cloud<PointT> (*last_vx_it, *(graph_handler_->getGraph ())));
  
      const Eigen::Matrix4f last_aligned_vertex_pose = boost::get_pose (last_aligned_vertex_, *(graph_handler_->getGraph ()));
      if (!incremental_)
      {
        const Eigen::Matrix4f guess = last_aligned_vertex_pose.transpose () * boost::get_pose (*last_vx_it, *(graph_handler_->getGraph ()));
        registration_method_->align (fake_cloud, guess);
      } else
        registration_method_->align (fake_cloud);
  
      const Eigen::Matrix4f global_ref_final_tr = last_aligned_vertex_pose * registration_method_->getFinalTransformation ();
      boost::set_estimate<PointT> (*last_vx_it, global_ref_final_tr, *(graph_handler_->getGraph ()));
      last_aligned_vertex_ = *last_vx_it;
      registration_method_->setInputTarget (boost::get_cloud<PointT> (last_aligned_vertex_, *(graph_handler_->getGraph ())));
    }
  }
  