meta_registration.hpp
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#ifndef PCL_REGISTRATION_IMPL_META_REGISTRATION_HPP_
#define PCL_REGISTRATION_IMPL_META_REGISTRATION_HPP_
template <typename PointT, typename Scalar>
pcl::registration::MetaRegistration<PointT, Scalar>::MetaRegistration () :
abs_transform_ (Matrix4::Identity ())
{}
template <typename PointT, typename Scalar> bool
pcl::registration::MetaRegistration<PointT, Scalar>::registerCloud (const PointCloudConstPtr& new_cloud, const Matrix4& delta_estimate)
{
assert (registration_);
PointCloudPtr new_cloud_transformed (new pcl::PointCloud<PointT> ());
if (!full_cloud_)
{
pcl::transformPointCloud(*new_cloud, *new_cloud_transformed, delta_estimate);
full_cloud_ = new_cloud_transformed;
abs_transform_ = delta_estimate;
return (true);
}
registration_->setInputSource (new_cloud);
registration_->setInputTarget (full_cloud_);
registration_->align (*new_cloud_transformed, abs_transform_ * delta_estimate);
bool converged = registration_->hasConverged ();
if (converged)
{
abs_transform_ = registration_->getFinalTransformation ();
*full_cloud_ += *new_cloud_transformed;
}
return (converged);
}
template <typename PointT, typename Scalar> inline typename pcl::registration::MetaRegistration<PointT, Scalar>::Matrix4
pcl::registration::MetaRegistration<PointT, Scalar>::getAbsoluteTransform () const
{
return (abs_transform_);
}
template <typename PointT, typename Scalar> inline void
pcl::registration::MetaRegistration<PointT, Scalar>::reset ()
{
full_cloud_.reset ();
abs_transform_ = Matrix4::Identity ();
}
template <typename PointT, typename Scalar> inline void
pcl::registration::MetaRegistration<PointT, Scalar>::setRegistration (RegistrationPtr reg)
{
registration_ = reg;
}
template <typename PointT, typename Scalar> inline typename pcl::registration::MetaRegistration<PointT, Scalar>::PointCloudConstPtr
pcl::registration::MetaRegistration<PointT, Scalar>::getMetaCloud () const
{
return full_cloud_;
}
#endif /*PCL_REGISTRATION_IMPL_META_REGISTRATION_HPP_*/
pcl::registration::MetaRegistration::Matrix4
typename pcl::Registration< PointT, PointT, Scalar >::Matrix4 Matrix4
Definition: meta_registration.h:82
pcl::registration::MetaRegistration::PointCloudPtr
typename pcl::PointCloud< PointT >::Ptr PointCloudPtr
Definition: meta_registration.h:78
pcl::PointCloud
PointCloud represents the base class in PCL for storing collections of 3D points.
Definition: projection_matrix.h:52
pcl::registration::MetaRegistration::reset
void reset()
Reset MetaICP without resetting registration_.
Definition: meta_registration.hpp:84
pcl::registration::MetaRegistration::getAbsoluteTransform
Matrix4 getAbsoluteTransform() const
Get estimated transform of the last registered cloud.
Definition: meta_registration.hpp:78
pcl::transformPointCloud
void transformPointCloud(const pcl::PointCloud< PointT > &cloud_in, pcl::PointCloud< PointT > &cloud_out, const Eigen::Transform< Scalar, 3, Eigen::Affine > &transform, bool copy_all_fields=true)
Apply an affine transform defined by an Eigen Transform.
Definition: transforms.hpp:215
pcl::registration::MetaRegistration::MetaRegistration
MetaRegistration()
Definition: meta_registration.hpp:42
pcl::registration::MetaRegistration::setRegistration
void setRegistration(RegistrationPtr)
Set registration instance used to align clouds.
Definition: meta_registration.hpp:91
pcl::registration::MetaRegistration::getMetaCloud
PointCloudConstPtr getMetaCloud() const
get accumulated meta point cloud
Definition: meta_registration.hpp:97
pcl::registration::MetaRegistration::PointCloudConstPtr
typename pcl::PointCloud< PointT >::ConstPtr PointCloudConstPtr
Definition: meta_registration.h:79
pcl::registration::MetaRegistration::RegistrationPtr
typename pcl::Registration< PointT, PointT, Scalar >::Ptr RegistrationPtr
Definition: meta_registration.h:81
pcl::registration::MetaRegistration::registerCloud
bool registerCloud(const PointCloudConstPtr &cloud, const Matrix4 &delta_estimate=Matrix4::Identity())
Register new point cloud.
Definition: meta_registration.hpp:47