Method solve

src/semantic_teaser.cpp:3–22

#include "semantic_teaser.h"

void semanticTeaser::solve(const Eigen::MatrixX3d &src,
                           const Eigen::MatrixX3d &tgt) {
    culculate_correspondence(src, tgt);

    this->matched_src_ = this->initial_correspondences.points.first;
    this->matched_tgt_ = this->initial_correspondences.points.second;

    // this->initial_correspondences = *correspondences;

    this->solver.solve(this->initial_correspondences.points.first,
                       this->initial_correspondences.points.second);

    // extract solution
    auto solution = this->solver.getSolution();
    this->solution_ = Eigen::Matrix4d::Identity();
    this->solution_.block<3, 3>(0, 0) = solution.rotation;
    this->solution_.block<3, 1>(0, 3) = solution.translation;

    this->max_clique_ = this->solver.getInlierMaxClique();
}

void semanticTeaser::solve_for_multiclass(
        std::vector<pcl::PointCloud<pcl::PointXYZ>> &src_cloud_vec,