Point Cloud Library (PCL) 1.14.0
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meta_registration.hpp
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37
38#ifndef PCL_REGISTRATION_IMPL_META_REGISTRATION_HPP_
39#define PCL_REGISTRATION_IMPL_META_REGISTRATION_HPP_
40
41namespace pcl {
42
43namespace registration {
44
45template <typename PointT, typename Scalar>
47: abs_transform_(Matrix4::Identity())
48{}
49
50template <typename PointT, typename Scalar>
51bool
53 const Matrix4& delta_estimate)
54{
55 assert(registration_);
56
57 PointCloudPtr new_cloud_transformed(new pcl::PointCloud<PointT>());
58
59 if (!full_cloud_) {
60 pcl::transformPointCloud(*new_cloud, *new_cloud_transformed, delta_estimate);
61 full_cloud_ = new_cloud_transformed;
62 abs_transform_ = delta_estimate;
63 return (true);
64 }
65
66 registration_->setInputSource(new_cloud);
67 registration_->setInputTarget(full_cloud_);
68
69 registration_->align(*new_cloud_transformed, abs_transform_ * delta_estimate);
70
71 bool converged = registration_->hasConverged();
72
73 if (converged) {
74 abs_transform_ = registration_->getFinalTransformation();
75 *full_cloud_ += *new_cloud_transformed;
76 }
77
78 return (converged);
79}
80
81template <typename PointT, typename Scalar>
84{
85 return (abs_transform_);
86}
87
88template <typename PointT, typename Scalar>
89inline void
91{
92 full_cloud_.reset();
93 abs_transform_ = Matrix4::Identity();
94}
95
96template <typename PointT, typename Scalar>
97inline void
102
103template <typename PointT, typename Scalar>
106{
107 return full_cloud_;
108}
109
110} // namespace registration
111} // namespace pcl
112
113#endif /*PCL_REGISTRATION_IMPL_META_REGISTRATION_HPP_*/
PointCloud represents the base class in PCL for storing collections of 3D points.
void reset()
Reset MetaRegistration without resetting registration_.
Matrix4 getAbsoluteTransform() const
Get estimated transform of the last registered cloud.
typename pcl::Registration< PointT, PointT, Scalar >::Ptr RegistrationPtr
bool registerCloud(const PointCloudConstPtr &cloud, const Matrix4 &delta_estimate=Matrix4::Identity())
Register new point cloud.
typename pcl::PointCloud< PointT >::ConstPtr PointCloudConstPtr
typename pcl::PointCloud< PointT >::Ptr PointCloudPtr
typename pcl::Registration< PointT, PointT, Scalar >::Matrix4 Matrix4
void setRegistration(RegistrationPtr)
Set registration instance used to align clouds.
PointCloudConstPtr getMetaCloud() const
get accumulated meta point cloud
void transformPointCloud(const pcl::PointCloud< PointT > &cloud_in, pcl::PointCloud< PointT > &cloud_out, const Eigen::Matrix< Scalar, 4, 4 > &transform, bool copy_all_fields)
Apply a rigid transform defined by a 4x4 matrix.