Point Cloud Library (PCL)  1.12.0-dev
incremental_registration.hpp
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  *
10  * Redistribution and use in source and binary forms, with or without
11  * modification, are permitted provided that the following conditions
12  * are met:
13  *
14  * * Redistributions of source code must retain the above copyright
15  * notice, this list of conditions and the following disclaimer.
16  * * Redistributions in binary form must reproduce the above
17  * copyright notice, this list of conditions and the following
18  * disclaimer in the documentation and/or other materials provided
19  * with the distribution.
20  * * Neither the name of the copyright holder(s) nor the names of its
21  * contributors may be used to endorse or promote products derived
22  * from this software without specific prior written permission.
23  *
24  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
25  * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
26  * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
27  * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
28  * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
29  * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
30  * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
31  * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
32  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
33  * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
34  * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
35  * POSSIBILITY OF SUCH DAMAGE.
36  */
37 
38 #ifndef PCL_REGISTRATION_IMPL_INCREMENTAL_REGISTRATION_HPP_
39 #define PCL_REGISTRATION_IMPL_INCREMENTAL_REGISTRATION_HPP_
40 
41 namespace pcl {
42 
43 namespace registration {
44 
45 template <typename PointT, typename Scalar>
47 : delta_transform_(Matrix4::Identity()), abs_transform_(Matrix4::Identity())
48 {}
49 
50 template <typename PointT, typename Scalar>
51 bool
53  const Matrix4& delta_estimate)
54 {
55  assert(registration_);
56 
57  if (!last_cloud_) {
58  last_cloud_ = cloud;
59  abs_transform_ = delta_transform_ = delta_estimate;
60  return (true);
61  }
62 
63  registration_->setInputSource(cloud);
64  registration_->setInputTarget(last_cloud_);
65 
66  {
68  registration_->align(p, delta_estimate);
69  }
70 
71  bool converged = registration_->hasConverged();
72 
73  if (converged) {
74  delta_transform_ = registration_->getFinalTransformation();
75  abs_transform_ *= delta_transform_;
76  last_cloud_ = cloud;
77  }
78 
79  return (converged);
80 }
81 
82 template <typename PointT, typename Scalar>
85 {
86  return (delta_transform_);
87 }
88 
89 template <typename PointT, typename Scalar>
92 {
93  return (abs_transform_);
94 }
95 
96 template <typename PointT, typename Scalar>
97 inline void
99 {
100  last_cloud_.reset();
101  delta_transform_ = abs_transform_ = Matrix4::Identity();
102 }
103 
104 template <typename PointT, typename Scalar>
105 inline void
107 {
108  registration_ = registration;
109 }
110 
111 } // namespace registration
112 } // namespace pcl
113 
114 #endif /*PCL_REGISTRATION_IMPL_INCREMENTAL_REGISTRATION_HPP_*/
pcl
Definition: convolution.h:46
pcl::registration::IncrementalRegistration::PointCloudConstPtr
typename pcl::PointCloud< PointT >::ConstPtr PointCloudConstPtr
Definition: incremental_registration.h:78
pcl::PointCloud
PointCloud represents the base class in PCL for storing collections of 3D points.
Definition: distances.h:55
pcl::registration::IncrementalRegistration::getAbsoluteTransform
Matrix4 getAbsoluteTransform() const
Get estimated overall transform.
Definition: incremental_registration.hpp:91
pcl::registration::IncrementalRegistration::reset
void reset()
Reset incremental Registration without resetting registration_.
Definition: incremental_registration.hpp:98
pcl::registration::IncrementalRegistration::Matrix4
typename pcl::Registration< PointT, PointT, Scalar >::Matrix4 Matrix4
Definition: incremental_registration.h:81
pcl::registration::IncrementalRegistration::RegistrationPtr
typename pcl::Registration< PointT, PointT, Scalar >::Ptr RegistrationPtr
Definition: incremental_registration.h:80
pcl::registration::IncrementalRegistration::registerCloud
bool registerCloud(const PointCloudConstPtr &cloud, const Matrix4 &delta_estimate=Matrix4::Identity())
Register new point cloud incrementally.
Definition: incremental_registration.hpp:52
pcl::registration::IncrementalRegistration::setRegistration
void setRegistration(RegistrationPtr)
Set registration instance used to align clouds.
Definition: incremental_registration.hpp:106
pcl::registration::IncrementalRegistration::getDeltaTransform
Matrix4 getDeltaTransform() const
Get estimated transform between the last two registered clouds.
Definition: incremental_registration.hpp:84
pcl::registration::IncrementalRegistration::IncrementalRegistration
IncrementalRegistration()
Definition: incremental_registration.hpp:46