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Meta Registration class. More...

#include <pcl/registration/meta_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

MetaRegistration ()
virtual ~MetaRegistration ()
Empty destructor. More...
bool registerCloud (const PointCloudConstPtr &cloud, const Matrix4 &delta_estimate=Matrix4::Identity())
Register new point cloud. More...
Matrix4 getAbsoluteTransform () const
Get estimated transform of the last registered cloud. More...
void reset ()
Reset MetaRegistration without resetting registration_. More...
void setRegistration (RegistrationPtr)
Set registration instance used to align clouds. More...
PointCloudConstPtr getMetaCloud () const
get accumulated meta point cloud More...

Protected Attributes

PointCloudPtr full_cloud_
registered accumulated point cloud More...
RegistrationPtr registration_
registration instance to align clouds More...
Matrix4 abs_transform_
estimated transform More...

Detailed Description

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

Meta Registration class.

Note
This method accumulates all registered points and becomes more costly with each registered point cloud.

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

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

Definition at line 78 of file meta_registration.h.

Member Typedef Documentation

Matrix4

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

Definition at line 84 of file meta_registration.h.

PointCloudConstPtr

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

Definition at line 81 of file meta_registration.h.

PointCloudPtr

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

Definition at line 80 of file meta_registration.h.

RegistrationPtr

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

Definition at line 83 of file meta_registration.h.

Constructor & Destructor Documentation

MetaRegistration()

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

Definition at line 46 of file meta_registration.hpp.

~MetaRegistration()

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

Empty destructor.

Definition at line 89 of file meta_registration.h.

Member Function Documentation

getAbsoluteTransform()

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

Get estimated transform of the last registered cloud.

Definition at line 83 of file meta_registration.hpp.

getMetaCloud()

template<typename PointT , typename Scalar >
MetaRegistration< PointT, Scalar >::PointCloudConstPtr pcl::registration::MetaRegistration< PointT, Scalar >::getMetaCloud
inline

get accumulated meta point cloud

Definition at line 105 of file meta_registration.hpp.

registerCloud()

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

Register new point cloud.

Note
You have to set a valid registration object with setRegistration before using this
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 meta_registration.hpp.

References pcl::transformPointCloud().

reset()

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

Reset MetaRegistration without resetting registration_.

Definition at line 90 of file meta_registration.hpp.

setRegistration()

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

Set registration instance used to align clouds.

Definition at line 98 of file meta_registration.hpp.

Member Data Documentation

abs_transform_

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

estimated transform

Definition at line 124 of file meta_registration.h.

full_cloud_

template<typename PointT , typename Scalar = float>
PointCloudPtr pcl::registration::MetaRegistration< PointT, Scalar >::full_cloud_
protected

registered accumulated point cloud

Definition at line 118 of file meta_registration.h.

registration_

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

registration instance to align clouds

Definition at line 121 of file meta_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_meta_registration.html