Incremental IterativeClosestPoint class. More...

#include <pcl/registration/incremental_registration.h>

Public Types
typedef pcl::PointCloud< PointT >::Ptr	PointCloudPtr

typedef pcl::PointCloud< PointT >::ConstPtr	PointCloudConstPtr

typedef pcl::Registration< PointT, PointT, Scalar >::Ptr	RegistrationPtr

typedef pcl::Registration< PointT, PointT, Scalar >::Matrix4	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.

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 74 of file incremental_registration.h.

Member Typedef Documentation

◆ Matrix4

template<typename PointT, typename Scalar = float>

typedef pcl::Registration<PointT,PointT,Scalar>::Matrix4 pcl::registration::IncrementalRegistration< PointT, Scalar >::Matrix4

Definition at line 80 of file incremental_registration.h.

◆ PointCloudConstPtr

template<typename PointT, typename Scalar = float>

typedef pcl::PointCloud<PointT>::ConstPtr pcl::registration::IncrementalRegistration< PointT, Scalar >::PointCloudConstPtr

Definition at line 77 of file incremental_registration.h.

◆ PointCloudPtr

template<typename PointT, typename Scalar = float>

typedef pcl::PointCloud<PointT>::Ptr pcl::registration::IncrementalRegistration< PointT, Scalar >::PointCloudPtr

Definition at line 76 of file incremental_registration.h.

◆ RegistrationPtr

template<typename PointT, typename Scalar = float>

typedef pcl::Registration<PointT,PointT,Scalar>::Ptr pcl::registration::IncrementalRegistration< PointT, Scalar >::RegistrationPtr

Definition at line 79 of file incremental_registration.h.

Constructor & Destructor Documentation

◆ IncrementalRegistration()

template<typename PointT , typename Scalar >

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

Definition at line 42 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 85 of file incremental_registration.h.

References pcl::registration::IncrementalRegistration< PointT, Scalar >::getAbsoluteTransform(), pcl::registration::IncrementalRegistration< PointT, Scalar >::getDeltaTransform(), pcl::registration::IncrementalRegistration< PointT, Scalar >::registerCloud(), pcl::registration::IncrementalRegistration< PointT, Scalar >::reset(), and pcl::registration::IncrementalRegistration< PointT, Scalar >::setRegistration().

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 85 of file incremental_registration.hpp.

References pcl::registration::IncrementalRegistration< PointT, Scalar >::abs_transform_.

Referenced by pcl::registration::IncrementalRegistration< PointT, Scalar >::~IncrementalRegistration().

◆ 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 79 of file incremental_registration.hpp.

References pcl::registration::IncrementalRegistration< PointT, Scalar >::delta_transform_.

Referenced by pcl::registration::IncrementalRegistration< PointT, Scalar >::~IncrementalRegistration().

◆ 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 48 of file incremental_registration.hpp.

References pcl::registration::IncrementalRegistration< PointT, Scalar >::abs_transform_, pcl::registration::IncrementalRegistration< PointT, Scalar >::delta_transform_, pcl::registration::IncrementalRegistration< PointT, Scalar >::last_cloud_, and pcl::registration::IncrementalRegistration< PointT, Scalar >::registration_.

Referenced by pcl::registration::IncrementalRegistration< PointT, Scalar >::~IncrementalRegistration().

◆ reset()

template<typename PointT , typename Scalar >

void pcl::registration::IncrementalRegistration< PointT, Scalar >::reset ( )

inline

Reset incremental Registration without resetting registration_.

Definition at line 91 of file incremental_registration.hpp.

References pcl::registration::IncrementalRegistration< PointT, Scalar >::abs_transform_, pcl::registration::IncrementalRegistration< PointT, Scalar >::delta_transform_, and pcl::registration::IncrementalRegistration< PointT, Scalar >::last_cloud_.

Referenced by pcl::registration::IncrementalRegistration< PointT, Scalar >::~IncrementalRegistration().

◆ 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 98 of file incremental_registration.hpp.

References pcl::registration::IncrementalRegistration< PointT, Scalar >::registration_.

Referenced by pcl::registration::IncrementalRegistration< PointT, Scalar >::~IncrementalRegistration().

Member Data Documentation

◆ abs_transform_

template<typename PointT, typename Scalar = float>

Matrix4 pcl::registration::IncrementalRegistration< PointT, Scalar >::abs_transform_

protected

Definition at line 122 of file incremental_registration.h.

Referenced by pcl::registration::IncrementalRegistration< PointT, Scalar >::getAbsoluteTransform(), pcl::registration::IncrementalRegistration< PointT, Scalar >::registerCloud(), and pcl::registration::IncrementalRegistration< PointT, Scalar >::reset().

◆ delta_transform_

template<typename PointT, typename Scalar = float>

Matrix4 pcl::registration::IncrementalRegistration< PointT, Scalar >::delta_transform_

protected

estimated transforms

Definition at line 121 of file incremental_registration.h.

Referenced by pcl::registration::IncrementalRegistration< PointT, Scalar >::getDeltaTransform(), pcl::registration::IncrementalRegistration< PointT, Scalar >::registerCloud(), and pcl::registration::IncrementalRegistration< PointT, Scalar >::reset().

◆ last_cloud_

template<typename PointT, typename Scalar = float>

PointCloudConstPtr pcl::registration::IncrementalRegistration< PointT, Scalar >::last_cloud_

protected

last registered point cloud

Definition at line 115 of file incremental_registration.h.

Referenced by pcl::registration::IncrementalRegistration< PointT, Scalar >::registerCloud(), and pcl::registration::IncrementalRegistration< PointT, Scalar >::reset().

◆ registration_

template<typename PointT, typename Scalar = float>

RegistrationPtr pcl::registration::IncrementalRegistration< PointT, Scalar >::registration_

protected

registration instance to align clouds

Definition at line 118 of file incremental_registration.h.

Referenced by pcl::registration::IncrementalRegistration< PointT, Scalar >::registerCloud(), and pcl::registration::IncrementalRegistration< PointT, Scalar >::setRegistration().

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

/build/pcl-qv3n_B/pcl-1.8.1+dfsg1/registration/include/pcl/registration/incremental_registration.h
/build/pcl-qv3n_B/pcl-1.8.1+dfsg1/registration/include/pcl/registration/impl/incremental_registration.hpp

Public Types

Public Member Functions

Protected Attributes

Detailed Description

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

Member Typedef Documentation

◆ Matrix4

◆ PointCloudConstPtr

◆ PointCloudPtr

◆ RegistrationPtr

Constructor & Destructor Documentation

◆ IncrementalRegistration()

◆ ~IncrementalRegistration()

Member Function Documentation

◆ getAbsoluteTransform()

◆ getDeltaTransform()

◆ registerCloud()

◆ reset()

◆ setRegistration()

Member Data Documentation

◆ abs_transform_

◆ delta_transform_

◆ last_cloud_

◆ registration_

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