incremental_registration.h
/*
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* Point Cloud Library (PCL) - www.pointclouds.org
* Copyright (c) 2015, Michael 'v4hn' Goerner
* Copyright (c) 2015-, Open Perception, Inc.
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#ifndef PCL_REGISTRATION_INCREMENTAL_REGISTRATION_H_
#define PCL_REGISTRATION_INCREMENTAL_REGISTRATION_H_
#include <pcl/point_cloud.h>
#include <pcl/registration/registration.h>
namespace pcl {
namespace registration {
/** \brief Incremental @ref IterativeClosestPoint class
*
* This class provides a way to register a stream of clouds where each cloud will be aligned to the previous cloud.
*
* \code
* IterativeClosestPoint<PointXYZ,PointXYZ>::Ptr icp (new IterativeClosestPoint<PointXYZ,PointXYZ>);
* icp->setMaxCorrespondenceDistance (0.05);
* icp->setMaximumIterations (50);
*
* IncrementalRegistration<PointXYZ> iicp;
* iicp.setRegistration (icp);
*
* while (true){
* PointCloud<PointXYZ>::Ptr cloud (new PointCloud<PointXYZ>);
* read_cloud (*cloud);
* iicp.registerCloud (cloud);
*
* PointCloud<PointXYZ>::Ptr tmp (new PointCloud<PointXYZ>);
* transformPointCloud (*cloud, *tmp, iicp.getAbsoluteTransform ());
* write_cloud (*tmp);
* }
* \endcode
*
* \author Michael 'v4hn' Goerner
* \ingroup registration
*/
template <typename PointT, typename Scalar = float>
class IncrementalRegistration {
public:
typedef typename pcl::PointCloud<PointT>::Ptr PointCloudPtr;
typedef typename pcl::PointCloud<PointT>::ConstPtr PointCloudConstPtr;
typedef typename pcl::Registration<PointT,PointT,Scalar>::Ptr RegistrationPtr;
typedef typename pcl::Registration<PointT,PointT,Scalar>::Matrix4 Matrix4;
IncrementalRegistration ();
/** \brief Empty destructor */
virtual ~IncrementalRegistration () {}
/** \brief Register new point cloud incrementally
* \note You have to set a valid registration object with @ref setRegistration before using this
* \note The class doesn't copy cloud. If you afterwards change cloud, that will affect this class.
* \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 between the last two registered clouds */
inline Matrix4
getDeltaTransform () const;
/** \brief Get estimated overall transform */
inline Matrix4
getAbsoluteTransform () const;
/** \brief Reset incremental Registration without resetting registration_ */
inline void
reset ();
/** \brief Set registration instance used to align clouds */
inline void
setRegistration (RegistrationPtr);
protected:
/** \brief last registered point cloud */
PointCloudConstPtr last_cloud_;
/** \brief registration instance to align clouds */
RegistrationPtr registration_;
/** \brief estimated transforms */
Matrix4 delta_transform_;
Matrix4 abs_transform_;
};
}
}
#include <pcl/registration/impl/incremental_registration.hpp>
#endif /*PCL_REGISTRATION_INCREMENTAL_REGISTRATION_H_*/
pcl::registration::IncrementalRegistration::delta_transform_
Matrix4 delta_transform_
estimated transforms
Definition: incremental_registration.h:121
pcl
Definition: convolution.h:45
pcl::registration::IncrementalRegistration::registerCloud
bool registerCloud(const PointCloudConstPtr &cloud, const Matrix4 &delta_estimate=Matrix4::Identity())
Register new point cloud incrementally.
Definition: incremental_registration.hpp:48
pcl::Registration::Ptr
boost::shared_ptr< Registration< PointSource, PointTarget, Scalar > > Ptr
Definition: registration.h:72
pcl::Registration::Matrix4
Eigen::Matrix< Scalar, 4, 4 > Matrix4
Definition: registration.h:65
pcl::PointCloud::Ptr
boost::shared_ptr< PointCloud< PointT > > Ptr
Definition: point_cloud.h:428
pcl::registration::IncrementalRegistration::Matrix4
pcl::Registration< PointT, PointT, Scalar >::Matrix4 Matrix4
Definition: incremental_registration.h:80
pcl::registration::IncrementalRegistration::last_cloud_
PointCloudConstPtr last_cloud_
last registered point cloud
Definition: incremental_registration.h:115
pcl::registration::IncrementalRegistration::IncrementalRegistration
IncrementalRegistration()
Definition: incremental_registration.hpp:42
pcl::registration::IncrementalRegistration::reset
void reset()
Reset incremental Registration without resetting registration_.
Definition: incremental_registration.hpp:91
pcl::registration::IncrementalRegistration::registration_
RegistrationPtr registration_
registration instance to align clouds
Definition: incremental_registration.h:118
pcl::PointCloud::ConstPtr
boost::shared_ptr< const PointCloud< PointT > > ConstPtr
Definition: point_cloud.h:429
pcl::registration::IncrementalRegistration
Incremental IterativeClosestPoint class.
Definition: incremental_registration.h:74
pcl::registration::IncrementalRegistration::abs_transform_
Matrix4 abs_transform_
Definition: incremental_registration.h:122
pcl::registration::IncrementalRegistration::PointCloudPtr
pcl::PointCloud< PointT >::Ptr PointCloudPtr
Definition: incremental_registration.h:76
pcl::registration::IncrementalRegistration::getAbsoluteTransform
Matrix4 getAbsoluteTransform() const
Get estimated overall transform.
Definition: incremental_registration.hpp:85
pcl::registration::IncrementalRegistration::getDeltaTransform
Matrix4 getDeltaTransform() const
Get estimated transform between the last two registered clouds.
Definition: incremental_registration.hpp:79
pcl::registration::IncrementalRegistration::RegistrationPtr
pcl::Registration< PointT, PointT, Scalar >::Ptr RegistrationPtr
Definition: incremental_registration.h:79
pcl::registration::IncrementalRegistration::setRegistration
void setRegistration(RegistrationPtr)
Set registration instance used to align clouds.
Definition: incremental_registration.hpp:98
pcl::registration::IncrementalRegistration::~IncrementalRegistration
virtual ~IncrementalRegistration()
Empty destructor.
Definition: incremental_registration.h:85
pcl::registration::IncrementalRegistration::PointCloudConstPtr
pcl::PointCloud< PointT >::ConstPtr PointCloudConstPtr
Definition: incremental_registration.h:77