incremental_registration.hpp
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#ifndef PCL_REGISTRATION_IMPL_INCREMENTAL_REGISTRATION_HPP_
#define PCL_REGISTRATION_IMPL_INCREMENTAL_REGISTRATION_HPP_
template <typename PointT, typename Scalar>
pcl::registration::IncrementalRegistration<PointT, Scalar>::IncrementalRegistration () :
delta_transform_ (Matrix4::Identity ()),
abs_transform_ (Matrix4::Identity ())
{}
template <typename PointT, typename Scalar> bool
pcl::registration::IncrementalRegistration<PointT, Scalar>::registerCloud (const PointCloudConstPtr& cloud, const Matrix4& delta_estimate)
{
assert (registration_);
if (!last_cloud_)
{
last_cloud_ = cloud;
abs_transform_ = delta_transform_ = delta_estimate;
return (true);
}
registration_->setInputSource (cloud);
registration_->setInputTarget (last_cloud_);
{
pcl::PointCloud<PointT> p;
registration_->align (p, delta_estimate);
}
bool converged = registration_->hasConverged ();
if ( converged ){
delta_transform_ = registration_->getFinalTransformation ();
abs_transform_ = abs_transform_ * delta_transform_;
last_cloud_ = cloud;
}
return (converged);
}
template <typename PointT, typename Scalar> inline typename pcl::registration::IncrementalRegistration<PointT, Scalar>::Matrix4
pcl::registration::IncrementalRegistration<PointT, Scalar>::getDeltaTransform () const
{
return (delta_transform_);
}
template <typename PointT, typename Scalar> inline typename pcl::registration::IncrementalRegistration<PointT, Scalar>::Matrix4
pcl::registration::IncrementalRegistration<PointT, Scalar>::getAbsoluteTransform () const
{
return (abs_transform_);
}
template <typename PointT, typename Scalar> inline void
pcl::registration::IncrementalRegistration<PointT, Scalar>::reset ()
{
last_cloud_.reset ();
delta_transform_ = abs_transform_ = Matrix4::Identity ();
}
template <typename PointT, typename Scalar> inline void
pcl::registration::IncrementalRegistration<PointT, Scalar>::setRegistration (RegistrationPtr registration)
{
registration_ = registration;
}
#endif /*PCL_REGISTRATION_IMPL_INCREMENTAL_REGISTRATION_HPP_*/
pcl::registration::IncrementalRegistration::delta_transform_
Matrix4 delta_transform_
estimated transforms
Definition: incremental_registration.h:121
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::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
PointCloud represents the base class in PCL for storing collections of 3D points. ...
Definition: projection_matrix.h:53
pcl::registration::IncrementalRegistration::abs_transform_
Matrix4 abs_transform_
Definition: incremental_registration.h:122
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::PointCloudConstPtr
pcl::PointCloud< PointT >::ConstPtr PointCloudConstPtr
Definition: incremental_registration.h:77