meta_registration.hpp
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#ifndef PCL_REGISTRATION_IMPL_META_REGISTRATION_HPP_
#define PCL_REGISTRATION_IMPL_META_REGISTRATION_HPP_
namespace pcl {
namespace registration {
template <typename PointT, typename Scalar>
MetaRegistration<PointT, Scalar>::MetaRegistration()
: abs_transform_(Matrix4::Identity())
{}
template <typename PointT, typename Scalar>
bool
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 MetaRegistration<PointT, Scalar>::Matrix4
MetaRegistration<PointT, Scalar>::getAbsoluteTransform() const
{
return (abs_transform_);
}
template <typename PointT, typename Scalar>
inline void
MetaRegistration<PointT, Scalar>::reset()
{
full_cloud_.reset();
abs_transform_ = Matrix4::Identity();
}
template <typename PointT, typename Scalar>
inline void
MetaRegistration<PointT, Scalar>::setRegistration(RegistrationPtr reg)
{
registration_ = reg;
}
template <typename PointT, typename Scalar>
inline typename MetaRegistration<PointT, Scalar>::PointCloudConstPtr
MetaRegistration<PointT, Scalar>::getMetaCloud() const
{
return full_cloud_;
}
} // namespace registration
} // namespace pcl
#endif /*PCL_REGISTRATION_IMPL_META_REGISTRATION_HPP_*/
pcl::PointCloud
PointCloud represents the base class in PCL for storing collections of 3D points.
Definition: point_cloud.h:173
pcl::registration::MetaRegistration::MetaRegistration
MetaRegistration()
Definition: meta_registration.hpp:46
pcl::registration::MetaRegistration::reset
void reset()
Reset MetaRegistration without resetting registration_.
Definition: meta_registration.hpp:90
pcl::registration::MetaRegistration::getAbsoluteTransform
Matrix4 getAbsoluteTransform() const
Get estimated transform of the last registered cloud.
Definition: meta_registration.hpp:83
pcl::registration::MetaRegistration::RegistrationPtr
typename pcl::Registration< PointT, PointT, Scalar >::Ptr RegistrationPtr
Definition: meta_registration.h:83
pcl::registration::MetaRegistration::registerCloud
bool registerCloud(const PointCloudConstPtr &cloud, const Matrix4 &delta_estimate=Matrix4::Identity())
Register new point cloud.
Definition: meta_registration.hpp:52
pcl::registration::MetaRegistration::PointCloudConstPtr
typename pcl::PointCloud< PointT >::ConstPtr PointCloudConstPtr
Definition: meta_registration.h:81
pcl::registration::MetaRegistration::PointCloudPtr
typename pcl::PointCloud< PointT >::Ptr PointCloudPtr
Definition: meta_registration.h:80
pcl::registration::MetaRegistration::Matrix4
typename pcl::Registration< PointT, PointT, Scalar >::Matrix4 Matrix4
Definition: meta_registration.h:84
pcl::registration::MetaRegistration::setRegistration
void setRegistration(RegistrationPtr)
Set registration instance used to align clouds.
Definition: meta_registration.hpp:98
pcl::registration::MetaRegistration::getMetaCloud
PointCloudConstPtr getMetaCloud() const
get accumulated meta point cloud
Definition: meta_registration.hpp:105
pcl::transformPointCloud
void transformPointCloud(const pcl::PointCloud< PointT > &cloud_in, pcl::PointCloud< PointT > &cloud_out, const Eigen::Matrix< Scalar, 4, 4 > &transform, bool copy_all_fields)
Apply a rigid transform defined by a 4x4 matrix.
Definition: transforms.hpp:221
pcl
Definition: convolution.h:46