Point Cloud Library (PCL) 1.12.0
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incremental_registration.h
1/*
2 * Software License Agreement (BSD License)
3 *
4 * Point Cloud Library (PCL) - www.pointclouds.org
5 * Copyright (c) 2015, Michael 'v4hn' Goerner
6 * Copyright (c) 2015-, Open Perception, Inc.
7 *
8 * All rights reserved.
9 *
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11 * modification, are permitted provided that the following conditions
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13 *
14 * * Redistributions of source code must retain the above copyright
15 * notice, this list of conditions and the following disclaimer.
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19 * with the distribution.
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22 * from this software without specific prior written permission.
23 *
24 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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36 */
37
38#pragma once
39
40#include <pcl/registration/registration.h>
41#include <pcl/point_cloud.h>
42
43namespace pcl {
44namespace registration {
45
46/** \brief Incremental @ref IterativeClosestPoint class
47 *
48 * This class provides a way to register a stream of clouds where each cloud will be
49 * aligned to the previous cloud.
50 *
51 * \code
52 * IterativeClosestPoint<PointXYZ,PointXYZ>::Ptr icp
53 * (new IterativeClosestPoint<PointXYZ,PointXYZ>);
54 * icp->setMaxCorrespondenceDistance (0.05);
55 * icp->setMaximumIterations (50);
56 *
57 * IncrementalRegistration<PointXYZ> iicp;
58 * iicp.setRegistration (icp);
59 *
60 * while (true){
61 * PointCloud<PointXYZ>::Ptr cloud (new PointCloud<PointXYZ>);
62 * read_cloud (*cloud);
63 * iicp.registerCloud (cloud);
64 *
65 * PointCloud<PointXYZ>::Ptr tmp (new PointCloud<PointXYZ>);
66 * transformPointCloud (*cloud, *tmp, iicp.getAbsoluteTransform ());
67 * write_cloud (*tmp);
68 * }
69 * \endcode
70 *
71 * \author Michael 'v4hn' Goerner
72 * \ingroup registration
73 */
74template <typename PointT, typename Scalar = float>
76public:
79
82
84
85 /** \brief Empty destructor */
87
88 /** \brief Register new point cloud incrementally
89 * \note You have to set a valid registration object with @ref setRegistration before
90 * using this \note The class doesn't copy cloud. If you afterwards change cloud, that
91 * will affect this class. \param[in] cloud point cloud to register \param[in]
92 * delta_estimate estimated transform between last registered cloud and this one
93 * \return true if registration converged
94 */
95 bool
96 registerCloud(const PointCloudConstPtr& cloud,
97 const Matrix4& delta_estimate = Matrix4::Identity());
98
99 /** \brief Get estimated transform between the last two registered clouds */
100 inline Matrix4
101 getDeltaTransform() const;
102
103 /** \brief Get estimated overall transform */
104 inline Matrix4
105 getAbsoluteTransform() const;
106
107 /** \brief Reset incremental Registration without resetting registration_ */
108 inline void
109 reset();
110
111 /** \brief Set registration instance used to align clouds */
112 inline void setRegistration(RegistrationPtr);
113
114protected:
115 /** \brief last registered point cloud */
117
118 /** \brief registration instance to align clouds */
120
121 /** \brief estimated transforms */
124};
125
126} // namespace registration
127} // namespace pcl
128
129#include <pcl/registration/impl/incremental_registration.hpp>
Iterator class for point clouds with or without given indices.
shared_ptr< PointCloud< PointT > > Ptr
shared_ptr< const PointCloud< PointT > > ConstPtr
shared_ptr< Registration< PointSource, PointTarget, Scalar > > Ptr
Eigen::Matrix< Scalar, 4, 4 > Matrix4
Incremental IterativeClosestPoint class.
void setRegistration(RegistrationPtr)
Set registration instance used to align clouds.
RegistrationPtr registration_
registration instance to align clouds
bool registerCloud(const PointCloudConstPtr &cloud, const Matrix4 &delta_estimate=Matrix4::Identity())
Register new point cloud incrementally.
Matrix4 getDeltaTransform() const
Get estimated transform between the last two registered clouds.
Matrix4 getAbsoluteTransform() const
Get estimated overall transform.
typename pcl::PointCloud< PointT >::ConstPtr PointCloudConstPtr
typename pcl::PointCloud< PointT >::Ptr PointCloudPtr
typename pcl::Registration< PointT, PointT, Scalar >::Ptr RegistrationPtr
void reset()
Reset incremental Registration without resetting registration_.
PointCloudConstPtr last_cloud_
last registered point cloud
typename pcl::Registration< PointT, PointT, Scalar >::Matrix4 Matrix4