Point Cloud Library (PCL)  1.12.1-dev
meta_registration.h
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37 
38 #pragma once
39 
40 #include <pcl/registration/registration.h>
41 #include <pcl/point_cloud.h>
42 
43 namespace pcl {
44 namespace registration {
45 
46 /** \brief Meta @ref Registration class
47  * \note This method accumulates all registered points and becomes more costly with each
48  * registered point cloud.
49  *
50  * This class provides a way to register a stream of clouds where each cloud
51  * will be aligned to the conglomerate of all previous clouds.
52  *
53  * \code
54  * IterativeClosestPoint<PointXYZ,PointXYZ>::Ptr icp
55  * (new IterativeClosestPoint<PointXYZ,PointXYZ>);
56  * icp->setMaxCorrespondenceDistance (0.05);
57  * icp->setMaximumIterations (50);
58  *
59  * MetaRegistration<PointXYZ> mreg;
60  * mreg.setRegistration (icp);
61  *
62  * while (true)
63  * {
64  * PointCloud<PointXYZ>::Ptr cloud (new PointCloud<PointXYZ>);
65  * read_cloud (*cloud);
66  * mreg.registerCloud (cloud);
67  *
68  * PointCloud<PointXYZ>::Ptr tmp (new PointCloud<PointXYZ>);
69  * transformPointCloud (*cloud, *tmp, mreg.getAbsoluteTransform ());
70  * write_cloud (*tmp);
71  * }
72  * \endcode
73  *
74  * \author Michael 'v4hn' Goerner
75  * \ingroup registration
76  */
77 template <typename PointT, typename Scalar = float>
79 public:
82 
85 
87 
88  /** \brief Empty destructor */
89  virtual ~MetaRegistration(){};
90 
91  /** \brief Register new point cloud
92  * \note You have to set a valid registration object with \ref setRegistration before
93  * using this \param[in] cloud point cloud to register \param[in] delta_estimate
94  * estimated transform between last registered cloud and this one \return true if
95  * registration converged
96  */
97  bool
98  registerCloud(const PointCloudConstPtr& cloud,
99  const Matrix4& delta_estimate = Matrix4::Identity());
100 
101  /** \brief Get estimated transform of the last registered cloud */
102  inline Matrix4
103  getAbsoluteTransform() const;
104 
105  /** \brief Reset MetaRegistration without resetting registration_ */
106  inline void
107  reset();
108 
109  /** \brief Set registration instance used to align clouds */
110  inline void setRegistration(RegistrationPtr);
111 
112  /** \brief get accumulated meta point cloud */
113  inline PointCloudConstPtr
114  getMetaCloud() const;
115 
116 protected:
117  /** \brief registered accumulated point cloud */
119 
120  /** \brief registration instance to align clouds */
122 
123  /** \brief estimated transform */
125 };
126 
127 } // namespace registration
128 } // namespace pcl
129 
130 #include <pcl/registration/impl/meta_registration.hpp>
shared_ptr< PointCloud< PointT > > Ptr
Definition: point_cloud.h:413
shared_ptr< const PointCloud< PointT > > ConstPtr
Definition: point_cloud.h:414
shared_ptr< Registration< PointSource, PointTarget, Scalar > > Ptr
Definition: registration.h:66
Eigen::Matrix< Scalar, 4, 4 > Matrix4
Definition: registration.h:59
PointCloudPtr full_cloud_
registered accumulated point cloud
Matrix4 abs_transform_
estimated transform
virtual ~MetaRegistration()
Empty destructor.
void reset()
Reset MetaRegistration without resetting registration_.
Matrix4 getAbsoluteTransform() const
Get estimated transform of the last registered cloud.
typename pcl::Registration< PointT, PointT, Scalar >::Ptr RegistrationPtr
bool registerCloud(const PointCloudConstPtr &cloud, const Matrix4 &delta_estimate=Matrix4::Identity())
Register new point cloud.
typename pcl::PointCloud< PointT >::ConstPtr PointCloudConstPtr
typename pcl::PointCloud< PointT >::Ptr PointCloudPtr
RegistrationPtr registration_
registration instance to align clouds
typename pcl::Registration< PointT, PointT, Scalar >::Matrix4 Matrix4
void setRegistration(RegistrationPtr)
Set registration instance used to align clouds.
PointCloudConstPtr getMetaCloud() const
get accumulated meta point cloud