From a8be08a19a9c718211d1c68e6f041e5e9be5189f Mon Sep 17 00:00:00 2001
From: matlabbe <matlabbe@gmail.com>
Date: Thu, 19 May 2016 16:11:26 -0400
Subject: [PATCH] Registration: if parent registration fails, continue with the
 child if the prior guess is not null

---
 corelib/src/Registration.cpp | 10 ++++++++++
 1 file changed, 10 insertions(+)

diff --git a/corelib/src/Registration.cpp b/corelib/src/Registration.cpp
index 2ba01cf7..33b36363 100644
--- a/corelib/src/Registration.cpp
+++ b/corelib/src/Registration.cpp
@@ -186,6 +186,11 @@ Transform Registration::computeTransformationMod(
 		info = *infoOut;
 	}
 
+	if(!guess.isNull() && force3DoF_)
+	{
+		guess = guess.to3DoF();
+	}
+
 	Transform t = computeTransformationImpl(from, to, guess, info);
 
 	if(varianceFromInliersCount_)
@@ -207,6 +212,11 @@ Transform Registration::computeTransformationMod(
 		{
 			t = child_->computeTransformationMod(from, to, force3DoF_?t.to3DoF():t, &info);
 		}
+		else if(!guess.isNull())
+		{
+			// This registration approach failed, continue with the guess for the next registration
+			t = child_->computeTransformationMod(from, to, guess, &info);
+		}
 	}
 	else if(!t.isNull() && force3DoF_)
 	{