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Incremental IterativeClosestPoint class. More...

#include <pcl/registration/incremental_registration.h>

Public Types

using PointCloudPtr = typename pcl::PointCloud< PointT >::Ptr
using PointCloudConstPtr = typename pcl::PointCloud< PointT >::ConstPtr
using RegistrationPtr = typename pcl::Registration< PointT, PointT, Scalar >::Ptr
using Matrix4 = typename pcl::Registration< PointT, PointT, Scalar >::Matrix4

Public Member Functions

IncrementalRegistration ()
virtual ~IncrementalRegistration ()
Empty destructor. More...
bool registerCloud (const PointCloudConstPtr &cloud, const Matrix4 &delta_estimate=Matrix4::Identity())
Register new point cloud incrementally. More...
Matrix4 getDeltaTransform () const
Get estimated transform between the last two registered clouds. More...
Matrix4 getAbsoluteTransform () const
Get estimated overall transform. More...
void reset ()
Reset incremental Registration without resetting registration_. More...
void setRegistration (RegistrationPtr)
Set registration instance used to align clouds. More...

Protected Attributes

PointCloudConstPtr last_cloud_
last registered point cloud More...
RegistrationPtr registration_
registration instance to align clouds More...
Matrix4 delta_transform_
estimated transforms More...
Matrix4 abs_transform_

Detailed Description

template<typename PointT, typename Scalar = float>
class pcl::registration::IncrementalRegistration< PointT, Scalar >

Incremental IterativeClosestPoint class.

This class provides a way to register a stream of clouds where each cloud will be aligned to the previous cloud.

(new IterativeClosestPoint<PointXYZ,PointXYZ>);
icp->setMaxCorrespondenceDistance (0.05);
icp->setMaximumIterations (50);
IncrementalRegistration<PointXYZ> iicp;
iicp.setRegistration (icp);
while (true){
read_cloud (*cloud);
iicp.registerCloud (cloud);
transformPointCloud (*cloud, *tmp, iicp.getAbsoluteTransform ());
write_cloud (*tmp);
}
Author
Michael 'v4hn' Goerner

Definition at line 75 of file incremental_registration.h.

Member Typedef Documentation

Matrix4

template<typename PointT , typename Scalar = float>
using pcl::registration::IncrementalRegistration< PointT, Scalar >::Matrix4 = typename pcl::Registration<PointT, PointT, Scalar>::Matrix4

Definition at line 81 of file incremental_registration.h.

PointCloudConstPtr

template<typename PointT , typename Scalar = float>
using pcl::registration::IncrementalRegistration< PointT, Scalar >::PointCloudConstPtr = typename pcl::PointCloud<PointT>::ConstPtr

Definition at line 78 of file incremental_registration.h.

PointCloudPtr

template<typename PointT , typename Scalar = float>
using pcl::registration::IncrementalRegistration< PointT, Scalar >::PointCloudPtr = typename pcl::PointCloud<PointT>::Ptr

Definition at line 77 of file incremental_registration.h.

RegistrationPtr

template<typename PointT , typename Scalar = float>
using pcl::registration::IncrementalRegistration< PointT, Scalar >::RegistrationPtr = typename pcl::Registration<PointT, PointT, Scalar>::Ptr

Definition at line 80 of file incremental_registration.h.

Constructor & Destructor Documentation

IncrementalRegistration()

template<typename PointT , typename Scalar >
pcl::registration::IncrementalRegistration< PointT, Scalar >::IncrementalRegistration

Definition at line 46 of file incremental_registration.hpp.

~IncrementalRegistration()

template<typename PointT , typename Scalar = float>
virtual pcl::registration::IncrementalRegistration< PointT, Scalar >::~IncrementalRegistration ( )
inlinevirtual

Empty destructor.

Definition at line 86 of file incremental_registration.h.

Member Function Documentation

getAbsoluteTransform()

template<typename PointT , typename Scalar >
pcl::registration::IncrementalRegistration< PointT, Scalar >::Matrix4 pcl::registration::IncrementalRegistration< PointT, Scalar >::getAbsoluteTransform
inline

Get estimated overall transform.

Definition at line 91 of file incremental_registration.hpp.

getDeltaTransform()

template<typename PointT , typename Scalar >
pcl::registration::IncrementalRegistration< PointT, Scalar >::Matrix4 pcl::registration::IncrementalRegistration< PointT, Scalar >::getDeltaTransform
inline

Get estimated transform between the last two registered clouds.

Definition at line 84 of file incremental_registration.hpp.

registerCloud()

template<typename PointT , typename Scalar >
bool pcl::registration::IncrementalRegistration< PointT, Scalar >::registerCloud ( const PointCloudConstPtr & cloud,
const Matrix4 & delta_estimate = Matrix4::Identity()
)

Register new point cloud incrementally.

Note
You have to set a valid registration object with setRegistration before using this
The class doesn't copy cloud. If you afterwards change cloud, that will affect this class.
Parameters
[in] cloud point cloud to register
[in] delta_estimate estimated transform between last registered cloud and this one
Returns
true if registration converged

Definition at line 52 of file incremental_registration.hpp.

reset()

template<typename PointT , typename Scalar >
void pcl::registration::IncrementalRegistration< PointT, Scalar >::reset
inline

Reset incremental Registration without resetting registration_.

Definition at line 98 of file incremental_registration.hpp.

setRegistration()

template<typename PointT , typename Scalar >
void pcl::registration::IncrementalRegistration< PointT, Scalar >::setRegistration ( RegistrationPtr registration )
inline

Set registration instance used to align clouds.

Definition at line 106 of file incremental_registration.hpp.

Member Data Documentation

abs_transform_

template<typename PointT , typename Scalar = float>
Matrix4 pcl::registration::IncrementalRegistration< PointT, Scalar >::abs_transform_
protected

Definition at line 123 of file incremental_registration.h.

delta_transform_

template<typename PointT , typename Scalar = float>
Matrix4 pcl::registration::IncrementalRegistration< PointT, Scalar >::delta_transform_
protected

estimated transforms

Definition at line 122 of file incremental_registration.h.

last_cloud_

template<typename PointT , typename Scalar = float>
PointCloudConstPtr pcl::registration::IncrementalRegistration< PointT, Scalar >::last_cloud_
protected

last registered point cloud

Definition at line 116 of file incremental_registration.h.

registration_

template<typename PointT , typename Scalar = float>
RegistrationPtr pcl::registration::IncrementalRegistration< PointT, Scalar >::registration_
protected

registration instance to align clouds

Definition at line 119 of file incremental_registration.h.


The documentation for this class was generated from the following files:

© 2009–2012, Willow Garage, Inc.
© 2012–, Open Perception, Inc.
Licensed under the BSD License.
https://pointclouds.org/documentation/classpcl_1_1registration_1_1_incremental_registration.html