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meta_registration.h
/*
* Software License Agreement (BSD License)
*
* Point Cloud Library (PCL) - www.pointclouds.org
* Copyright (c) 2015, Michael 'v4hn' Goerner
* Copyright (c) 2015-, Open Perception, Inc.
*
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of the copyright holder(s) nor the names of its
* 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
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*/
#pragma once
#include <pcl/registration/registration.h>
#include <pcl/point_cloud.h>
namespace pcl {
namespace registration {
/** \brief Meta @ref Registration class
* \note This method accumulates all registered points and becomes more costly with each
* registered point cloud.
*
* This class provides a way to register a stream of clouds where each cloud
* will be aligned to the conglomerate of all previous clouds.
*
* \code
* IterativeClosestPoint<PointXYZ,PointXYZ>::Ptr icp
* (new IterativeClosestPoint<PointXYZ,PointXYZ>);
* icp->setMaxCorrespondenceDistance (0.05);
* icp->setMaximumIterations (50);
*
* MetaRegistration<PointXYZ> mreg;
* mreg.setRegistration (icp);
*
* while (true)
* {
* PointCloud<PointXYZ>::Ptr cloud (new PointCloud<PointXYZ>);
* read_cloud (*cloud);
* mreg.registerCloud (cloud);
*
* PointCloud<PointXYZ>::Ptr tmp (new PointCloud<PointXYZ>);
* transformPointCloud (*cloud, *tmp, mreg.getAbsoluteTransform ());
* write_cloud (*tmp);
* }
* \endcode
*
* \author Michael 'v4hn' Goerner
* \ingroup registration
*/
template <typename PointT, typename Scalar = float>
class MetaRegistration {
public:
using PointCloudPtr = typename pcl::PointCloud<PointT>::Ptr;
using PointCloudConstPtr = typename pcl::PointCloud<PointT>::ConstPtr;
using RegistrationPtr = typename pcl::Registration<PointT, PointT, Scalar>::Ptr;
using Matrix4 = typename pcl::Registration<PointT, PointT, Scalar>::Matrix4;
MetaRegistration();
/** \brief Empty destructor */
virtual ~MetaRegistration() = default;
/** \brief Register new point cloud
* \note You have to set a valid registration object with \ref setRegistration before
* using this \param[in] cloud point cloud to register \param[in] delta_estimate
* estimated transform between last registered cloud and this one \return true if
* registration converged
*/
bool
registerCloud(const PointCloudConstPtr& cloud,
const Matrix4& delta_estimate = Matrix4::Identity());
/** \brief Get estimated transform of the last registered cloud */
inline Matrix4
getAbsoluteTransform() const;
/** \brief Reset MetaRegistration without resetting registration_ */
inline void
reset();
/** \brief Set registration instance used to align clouds */
inline void setRegistration(RegistrationPtr);
/** \brief get accumulated meta point cloud */
inline PointCloudConstPtr
getMetaCloud() const;
protected:
/** \brief registered accumulated point cloud */
PointCloudPtr full_cloud_;
/** \brief registration instance to align clouds */
RegistrationPtr registration_;
/** \brief estimated transform */
Matrix4 abs_transform_;
};
} // namespace registration
} // namespace pcl
#include <pcl/registration/impl/meta_registration.hpp>
pcl::PointCloud::Ptr
shared_ptr< PointCloud< PointT > > Ptr
Definition point_cloud.h:414
pcl::PointCloud::ConstPtr
shared_ptr< const PointCloud< PointT > > ConstPtr
Definition point_cloud.h:415
pcl::Registration::Ptr
shared_ptr< Registration< PointSource, PointTarget, Scalar > > Ptr
Definition registration.h:66
pcl::Registration::Matrix4
Eigen::Matrix< Scalar, 4, 4 > Matrix4
Definition registration.h:59
pcl::registration::MetaRegistration::full_cloud_
PointCloudPtr full_cloud_
registered accumulated point cloud
Definition meta_registration.h:118
pcl::registration::MetaRegistration::MetaRegistration
MetaRegistration()
Definition meta_registration.hpp:46
pcl::registration::MetaRegistration::abs_transform_
Matrix4 abs_transform_
estimated transform
Definition meta_registration.h:124
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::registration_
RegistrationPtr registration_
registration instance to align clouds
Definition meta_registration.h:121
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::~MetaRegistration
virtual ~MetaRegistration()=default
Empty destructor.
pcl::registration::MetaRegistration::getMetaCloud
PointCloudConstPtr getMetaCloud() const
get accumulated meta point cloud
Definition meta_registration.hpp:105
pcl::registration
Definition convergence_criteria.h:46
pcl
Definition convolution.h:46