pcl::registration::MetaRegistration< PointT, Scalar > Class Template Reference

Meta Registration class. More...

#include <pcl/registration/meta_registration.h>

Collaboration diagram for pcl::registration::MetaRegistration< PointT, Scalar >:

Public Types
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

Public Member Functions
	MetaRegistration ()
virtual	~MetaRegistration ()=default
	Empty destructor. More...
bool	registerCloud (const PointCloudConstPtr &cloud, const Matrix4 &delta_estimate=Matrix4::Identity())
	Register new point cloud. More...
Matrix4	getAbsoluteTransform () const
	Get estimated transform of the last registered cloud. More...
void	reset ()
	Reset MetaRegistration without resetting registration_. More...
void	setRegistration (RegistrationPtr)
	Set registration instance used to align clouds. More...
PointCloudConstPtr	getMetaCloud () const
	get accumulated meta point cloud More...

Protected Attributes
PointCloudPtr	full_cloud_
	registered accumulated point cloud More...
RegistrationPtr	registration_
	registration instance to align clouds More...
Matrix4	abs_transform_
	estimated transform More...

Detailed Description

template<typename PointT, typename Scalar = float>
class pcl::registration::MetaRegistration< PointT, Scalar >

Meta 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.

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);
}

Author

Michael 'v4hn' Goerner

Definition at line 78 of file meta_registration.h.

Member Typedef Documentation

Matrix4

template<typename PointT , typename Scalar = float>

using pcl::registration::MetaRegistration< PointT, Scalar >::Matrix4 = typename pcl::Registration<PointT, PointT, Scalar>::Matrix4

Definition at line 84 of file meta_registration.h.

PointCloudConstPtr

template<typename PointT , typename Scalar = float>

using pcl::registration::MetaRegistration< PointT, Scalar >::PointCloudConstPtr = typename pcl::PointCloud<PointT>::ConstPtr

Definition at line 81 of file meta_registration.h.

PointCloudPtr

template<typename PointT , typename Scalar = float>

using pcl::registration::MetaRegistration< PointT, Scalar >::PointCloudPtr = typename pcl::PointCloud<PointT>::Ptr

Definition at line 80 of file meta_registration.h.

RegistrationPtr

template<typename PointT , typename Scalar = float>

using pcl::registration::MetaRegistration< PointT, Scalar >::RegistrationPtr = typename pcl::Registration<PointT, PointT, Scalar>::Ptr

Definition at line 83 of file meta_registration.h.

Constructor & Destructor Documentation

MetaRegistration()

template<typename PointT , typename Scalar >

pcl::registration::MetaRegistration< PointT, Scalar >::MetaRegistration

Definition at line 46 of file meta_registration.hpp.

~MetaRegistration()

template<typename PointT , typename Scalar = float>

virtual pcl::registration::MetaRegistration< PointT, Scalar >::~MetaRegistration ( )

virtualdefault

Empty destructor.

Member Function Documentation

getAbsoluteTransform()

template<typename PointT , typename Scalar >

MetaRegistration< PointT, Scalar >::Matrix4 pcl::registration::MetaRegistration< PointT, Scalar >::getAbsoluteTransform

inline

Get estimated transform of the last registered cloud.

Definition at line 83 of file meta_registration.hpp.

getMetaCloud()

template<typename PointT , typename Scalar >

MetaRegistration< PointT, Scalar >::PointCloudConstPtr pcl::registration::MetaRegistration< PointT, Scalar >::getMetaCloud

inline

get accumulated meta point cloud

Definition at line 105 of file meta_registration.hpp.

registerCloud()

template<typename PointT , typename Scalar >

bool pcl::registration::MetaRegistration< PointT, Scalar >::registerCloud	(	const PointCloudConstPtr &	cloud,
		const Matrix4 &	delta_estimate = Matrix4::Identity()
	)

Register new point cloud.

Note

You have to set a valid registration object with setRegistration before using this

Parameters

[in]	cloud	point cloud to register
[in]	delta_estimate	estimated transform between last registered cloud and this one

Returns

true if registration converged

Definition at line 52 of file meta_registration.hpp.

References pcl::transformPointCloud().

reset()

template<typename PointT , typename Scalar >

void pcl::registration::MetaRegistration< PointT, Scalar >::reset

inline

Reset MetaRegistration without resetting registration_.

Definition at line 90 of file meta_registration.hpp.

setRegistration()

template<typename PointT , typename Scalar >

void pcl::registration::MetaRegistration< PointT, Scalar >::setRegistration ( RegistrationPtr  reg )

inline

Set registration instance used to align clouds.

Definition at line 98 of file meta_registration.hpp.

Member Data Documentation

abs_transform_

template<typename PointT , typename Scalar = float>

Matrix4 pcl::registration::MetaRegistration< PointT, Scalar >::abs_transform_

protected

estimated transform

Definition at line 124 of file meta_registration.h.

full_cloud_

template<typename PointT , typename Scalar = float>

PointCloudPtr pcl::registration::MetaRegistration< PointT, Scalar >::full_cloud_

protected

registered accumulated point cloud

Definition at line 118 of file meta_registration.h.

registration_

template<typename PointT , typename Scalar = float>

RegistrationPtr pcl::registration::MetaRegistration< PointT, Scalar >::registration_

protected

registration instance to align clouds

Definition at line 121 of file meta_registration.h.

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The documentation for this class was generated from the following files:

• pcl/registration/meta_registration.h
• pcl/registration/impl/meta_registration.hpp