Point Cloud Library (PCL)  1.9.1
 All Classes Namespaces Functions Variables Typedefs Enumerations Enumerator Friends Modules Pages
incremental_registration.hpp
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.
20  * * Neither the name of the copyright holder(s) nor the names of its
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
25  * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
26  * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
27  * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
28  * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
29  * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
30  * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
31  * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
32  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
33  * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
34  * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
35  * POSSIBILITY OF SUCH DAMAGE.
36  */
37 
38 #ifndef PCL_REGISTRATION_IMPL_INCREMENTAL_REGISTRATION_HPP_
39 #define PCL_REGISTRATION_IMPL_INCREMENTAL_REGISTRATION_HPP_
40 
41 template <typename PointT, typename Scalar>
43  delta_transform_ (Matrix4::Identity ()),
44  abs_transform_ (Matrix4::Identity ())
45 {}
46 
47 template <typename PointT, typename Scalar> bool
49 {
50  assert (registration_);
51 
52  if (!last_cloud_)
53  {
54  last_cloud_ = cloud;
55  abs_transform_ = delta_transform_ = delta_estimate;
56  return (true);
57  }
58 
59  registration_->setInputSource (cloud);
60  registration_->setInputTarget (last_cloud_);
61 
62  {
64  registration_->align (p, delta_estimate);
65  }
66 
67  bool converged = registration_->hasConverged ();
68 
69  if ( converged ){
70  delta_transform_ = registration_->getFinalTransformation ();
71  abs_transform_ = abs_transform_ * delta_transform_;
72  last_cloud_ = cloud;
73  }
74 
75  return (converged);
76 }
77 
78 template <typename PointT, typename Scalar> inline typename pcl::registration::IncrementalRegistration<PointT, Scalar>::Matrix4
80 {
81  return (delta_transform_);
82 }
83 
84 template <typename PointT, typename Scalar> inline typename pcl::registration::IncrementalRegistration<PointT, Scalar>::Matrix4
86 {
87  return (abs_transform_);
88 }
89 
90 template <typename PointT, typename Scalar> inline void
92 {
93  last_cloud_.reset ();
94  delta_transform_ = abs_transform_ = Matrix4::Identity ();
95 }
96 
97 template <typename PointT, typename Scalar> inline void
99 {
100  registration_ = registration;
101 }
102 
103 #endif /*PCL_REGISTRATION_IMPL_INCREMENTAL_REGISTRATION_HPP_*/
bool registerCloud(const PointCloudConstPtr &cloud, const Matrix4 &delta_estimate=Matrix4::Identity())
Register new point cloud incrementally.
Matrix4 getAbsoluteTransform() const
Get estimated overall transform.
pcl::Registration< PointT, PointT, Scalar >::Matrix4 Matrix4
void reset()
Reset incremental Registration without resetting registration_.
PointCloud represents the base class in PCL for storing collections of 3D points. ...
Matrix4 getDeltaTransform() const
Get estimated transform between the last two registered clouds.
pcl::Registration< PointT, PointT, Scalar >::Ptr RegistrationPtr
void setRegistration(RegistrationPtr)
Set registration instance used to align clouds.
pcl::PointCloud< PointT >::ConstPtr PointCloudConstPtr