Point Cloud Library (PCL) 1.12.0
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meta_registration.h
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.
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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
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35 * POSSIBILITY OF SUCH DAMAGE.
36 */
37
38#pragma once
39
40#include <pcl/registration/registration.h>
41#include <pcl/point_cloud.h>
42
43namespace pcl {
44namespace 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 */
77template <typename PointT, typename Scalar = float>
79public:
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
116protected:
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
shared_ptr< const PointCloud< PointT > > ConstPtr
shared_ptr< Registration< PointSource, PointTarget, Scalar > > Ptr
Eigen::Matrix< Scalar, 4, 4 > Matrix4
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