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

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

IterativeClosestPoint<PointXYZ,PointXYZ>::Ptr icp
  (new IterativeClosestPoint<PointXYZ,PointXYZ>);
icp->setMaxCorrespondenceDistance (0.05);
icp->setMaximumIterations (50);
 
IncrementalRegistration<PointXYZ> iicp;
iicp.setRegistration (icp);
 
while (true){
  PointCloud<PointXYZ>::Ptr cloud (new PointCloud<PointXYZ>);
  read_cloud (*cloud);
  iicp.registerCloud (cloud);
 
  PointCloud<PointXYZ>::Ptr tmp (new PointCloud<PointXYZ>);
  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.

References abs_transform_, and delta_transform_.

◆ ~IncrementalRegistration()

template<typename PointT, typename Scalar = float>

virtual pcl::registration::IncrementalRegistration< PointT, Scalar >::~IncrementalRegistration ( )

virtualdefault

Empty destructor.

References PCL_MAKE_ALIGNED_OPERATOR_NEW.

Member Function Documentation

◆ getAbsoluteTransform()

template<typename PointT, typename Scalar>

pcl::registration::IncrementalRegistration< PointT, Scalar >::Matrix4 pcl::registration::IncrementalRegistration< PointT, Scalar >::getAbsoluteTransform ( ) const

inline

Get estimated overall transform.

Definition at line 91 of file incremental_registration.hpp.

References abs_transform_.

◆ getDeltaTransform()

template<typename PointT, typename Scalar>

pcl::registration::IncrementalRegistration< PointT, Scalar >::Matrix4 pcl::registration::IncrementalRegistration< PointT, Scalar >::getDeltaTransform ( ) const

inline

Get estimated transform between the last two registered clouds.

Definition at line 84 of file incremental_registration.hpp.

References delta_transform_.

◆ 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