Point Cloud Library (PCL)  1.11.1-dev
meta_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_META_REGISTRATION_HPP_
39 #define PCL_REGISTRATION_IMPL_META_REGISTRATION_HPP_
40 
41 
42 namespace pcl
43 {
44 
45 namespace registration
46 {
47 
48 template <typename PointT, typename Scalar>
50  abs_transform_ (Matrix4::Identity ())
51 {}
52 
53 template <typename PointT, typename Scalar> bool
55 {
56  assert (registration_);
57 
58  PointCloudPtr new_cloud_transformed (new pcl::PointCloud<PointT> ());
59 
60  if (!full_cloud_)
61  {
62  pcl::transformPointCloud(*new_cloud, *new_cloud_transformed, delta_estimate);
63  full_cloud_ = new_cloud_transformed;
64  abs_transform_ = delta_estimate;
65  return (true);
66  }
67 
68  registration_->setInputSource (new_cloud);
69  registration_->setInputTarget (full_cloud_);
70 
71  registration_->align (*new_cloud_transformed, abs_transform_ * delta_estimate);
72 
73  bool converged = registration_->hasConverged ();
74 
75  if (converged)
76  {
77  abs_transform_ = registration_->getFinalTransformation ();
78  *full_cloud_ += *new_cloud_transformed;
79  }
80 
81  return (converged);
82 }
83 
84 template <typename PointT, typename Scalar> inline typename MetaRegistration<PointT, Scalar>::Matrix4
86 {
87  return (abs_transform_);
88 }
89 
90 template <typename PointT, typename Scalar> inline void
92 {
93  full_cloud_.reset ();
94  abs_transform_ = Matrix4::Identity ();
95 }
96 
97 template <typename PointT, typename Scalar> inline void
99 {
100  registration_ = reg;
101 }
102 
103 template <typename PointT, typename Scalar> inline typename MetaRegistration<PointT, Scalar>::PointCloudConstPtr
105 {
106  return full_cloud_;
107 }
108 
109 } // namespace registration
110 } // namespace pcl
111 
112 #endif /*PCL_REGISTRATION_IMPL_META_REGISTRATION_HPP_*/
113 
pcl
Definition: convolution.h:46
pcl::registration::MetaRegistration::getMetaCloud
PointCloudConstPtr getMetaCloud() const
get accumulated meta point cloud
Definition: meta_registration.hpp:104
pcl::registration::MetaRegistration::Matrix4
typename pcl::Registration< PointT, PointT, Scalar >::Matrix4 Matrix4
Definition: meta_registration.h:82
pcl::registration::MetaRegistration::PointCloudPtr
typename pcl::PointCloud< PointT >::Ptr PointCloudPtr
Definition: meta_registration.h:78
pcl::PointCloud
PointCloud represents the base class in PCL for storing collections of 3D points.
Definition: distances.h:55
pcl::registration::MetaRegistration::reset
void reset()
Reset MetaRegistration without resetting registration_.
Definition: meta_registration.hpp:91
pcl::transformPointCloud
void transformPointCloud(const pcl::PointCloud< PointT > &cloud_in, pcl::PointCloud< PointT > &cloud_out, const Eigen::Matrix< Scalar, 4, 4 > &transform, bool copy_all_fields)
Apply a rigid transform defined by a 4x4 matrix.
Definition: transforms.hpp:221
pcl::registration::MetaRegistration::MetaRegistration
MetaRegistration()
Definition: meta_registration.hpp:49
pcl::registration::MetaRegistration::setRegistration
void setRegistration(RegistrationPtr)
Set registration instance used to align clouds.
Definition: meta_registration.hpp:98
pcl::registration::MetaRegistration::PointCloudConstPtr
typename pcl::PointCloud< PointT >::ConstPtr PointCloudConstPtr
Definition: meta_registration.h:79
pcl::registration::MetaRegistration::RegistrationPtr
typename pcl::Registration< PointT, PointT, Scalar >::Ptr RegistrationPtr
Definition: meta_registration.h:81
pcl::registration::MetaRegistration::getAbsoluteTransform
Matrix4 getAbsoluteTransform() const
Get estimated transform of the last registered cloud.
Definition: meta_registration.hpp:85
pcl::registration::MetaRegistration::registerCloud
bool registerCloud(const PointCloudConstPtr &cloud, const Matrix4 &delta_estimate=Matrix4::Identity())
Register new point cloud.
Definition: meta_registration.hpp:54