Point Cloud Library (PCL)  1.11.1-dev
meta_registration.hpp
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37 
38 #ifndef PCL_REGISTRATION_IMPL_META_REGISTRATION_HPP_
39 #define PCL_REGISTRATION_IMPL_META_REGISTRATION_HPP_
40 
41 namespace pcl {
42 
43 namespace registration {
44 
45 template <typename PointT, typename Scalar>
47 : 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  PointCloudPtr new_cloud_transformed(new pcl::PointCloud<PointT>());
58 
59  if (!full_cloud_) {
60  pcl::transformPointCloud(*new_cloud, *new_cloud_transformed, delta_estimate);
61  full_cloud_ = new_cloud_transformed;
62  abs_transform_ = delta_estimate;
63  return (true);
64  }
65 
66  registration_->setInputSource(new_cloud);
67  registration_->setInputTarget(full_cloud_);
68 
69  registration_->align(*new_cloud_transformed, abs_transform_ * delta_estimate);
70 
71  bool converged = registration_->hasConverged();
72 
73  if (converged) {
74  abs_transform_ = registration_->getFinalTransformation();
75  *full_cloud_ += *new_cloud_transformed;
76  }
77 
78  return (converged);
79 }
80 
81 template <typename PointT, typename Scalar>
84 {
85  return (abs_transform_);
86 }
87 
88 template <typename PointT, typename Scalar>
89 inline void
91 {
92  full_cloud_.reset();
93  abs_transform_ = Matrix4::Identity();
94 }
95 
96 template <typename PointT, typename Scalar>
97 inline void
99 {
100  registration_ = reg;
101 }
102 
103 template <typename PointT, typename Scalar>
106 {
107  return full_cloud_;
108 }
109 
110 } // namespace registration
111 } // namespace pcl
112 
113 #endif /*PCL_REGISTRATION_IMPL_META_REGISTRATION_HPP_*/
pcl
Definition: convolution.h:46
pcl::registration::MetaRegistration::getMetaCloud
PointCloudConstPtr getMetaCloud() const
get accumulated meta point cloud
Definition: meta_registration.hpp:105
pcl::registration::MetaRegistration::PointCloudPtr
typename pcl::PointCloud< PointT >::Ptr PointCloudPtr
Definition: meta_registration.h:80
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:90
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:46
pcl::registration::MetaRegistration::setRegistration
void setRegistration(RegistrationPtr)
Set registration instance used to align clouds.
Definition: meta_registration.hpp:98
pcl::registration::MetaRegistration::Matrix4
typename pcl::Registration< PointT, PointT, Scalar >::Matrix4 Matrix4
Definition: meta_registration.h:84
pcl::registration::MetaRegistration::PointCloudConstPtr
typename pcl::PointCloud< PointT >::ConstPtr PointCloudConstPtr
Definition: meta_registration.h:81
pcl::registration::MetaRegistration::getAbsoluteTransform
Matrix4 getAbsoluteTransform() const
Get estimated transform of the last registered cloud.
Definition: meta_registration.hpp:83
pcl::registration::MetaRegistration::registerCloud
bool registerCloud(const PointCloudConstPtr &cloud, const Matrix4 &delta_estimate=Matrix4::Identity())
Register new point cloud.
Definition: meta_registration.hpp:52
pcl::registration::MetaRegistration::RegistrationPtr
typename pcl::Registration< PointT, PointT, Scalar >::Ptr RegistrationPtr
Definition: meta_registration.h:83