meta_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_META_REGISTRATION_H_
#define PCL_REGISTRATION_META_REGISTRATION_H_
#include <pcl/point_cloud.h>
#include <pcl/registration/registration.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:
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;
MetaRegistration ();
/** \brief Empty destructor */
virtual ~MetaRegistration () {};
/** \brief Register new point cloud
* \note You have to set a valid registration object with @ref setICP 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 ICP 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 MetaICP 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_;
};
}
}
#include <pcl/registration/impl/meta_registration.hpp>
#endif /*PCL_REGISTRATION_META_REGISTRATION_H_*/
pcl::registration::MetaRegistration
Meta Registration class.
Definition: meta_registration.h:77
pcl::registration::MetaRegistration::PointCloudPtr
pcl::PointCloud< PointT >::Ptr PointCloudPtr
Definition: meta_registration.h:79
pcl
Definition: convolution.h:45
pcl::registration::MetaRegistration::reset
void reset()
Reset MetaICP without resetting registration_.
Definition: meta_registration.hpp:84
pcl::registration::MetaRegistration::full_cloud_
PointCloudPtr full_cloud_
registered accumulated point cloud
Definition: meta_registration.h:117
pcl::registration::MetaRegistration::Matrix4
pcl::Registration< PointT, PointT, Scalar >::Matrix4 Matrix4
Definition: meta_registration.h:83
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::MetaRegistration::getAbsoluteTransform
Matrix4 getAbsoluteTransform() const
Get estimated transform of the last registered cloud.
Definition: meta_registration.hpp:78
pcl::registration::MetaRegistration::registration_
RegistrationPtr registration_
registration instance to align clouds
Definition: meta_registration.h:120
pcl::registration::MetaRegistration::setRegistration
void setRegistration(RegistrationPtr)
Set registration instance used to align clouds.
Definition: meta_registration.hpp:91
pcl::registration::MetaRegistration::MetaRegistration
MetaRegistration()
Definition: meta_registration.hpp:42
pcl::registration::MetaRegistration::getMetaCloud
PointCloudConstPtr getMetaCloud() const
get accumulated meta point cloud
Definition: meta_registration.hpp:97
pcl::registration::MetaRegistration::PointCloudConstPtr
pcl::PointCloud< PointT >::ConstPtr PointCloudConstPtr
Definition: meta_registration.h:80
pcl::registration::MetaRegistration::~MetaRegistration
virtual ~MetaRegistration()
Empty destructor.
Definition: meta_registration.h:88
pcl::PointCloud::ConstPtr
boost::shared_ptr< const PointCloud< PointT > > ConstPtr
Definition: point_cloud.h:429
pcl::registration::MetaRegistration::abs_transform_
Matrix4 abs_transform_
estimated transform
Definition: meta_registration.h:123
pcl::registration::MetaRegistration::registerCloud
bool registerCloud(const PointCloudConstPtr &cloud, const Matrix4 &delta_estimate=Matrix4::Identity())
Register new point cloud.
Definition: meta_registration.hpp:47
pcl::registration::MetaRegistration::RegistrationPtr
pcl::Registration< PointT, PointT, Scalar >::Ptr RegistrationPtr
Definition: meta_registration.h:82