Incremental IterativeClosestPoint class. More...
#include <pcl/registration/incremental_registration.h>
Public Types |
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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 |
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IncrementalRegistration () | |
virtual | ~IncrementalRegistration () |
Empty destructor. More... |
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bool | registerCloud (const PointCloudConstPtr &cloud, const Matrix4 &delta_estimate=Matrix4::Identity()) |
Register new point cloud incrementally. More... |
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Matrix4 | getDeltaTransform () const |
Get estimated transform between the last two registered clouds. More... |
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Matrix4 | getAbsoluteTransform () const |
Get estimated overall transform. More... |
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void | reset () |
Reset incremental Registration without resetting registration_. More... |
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void | setRegistration (RegistrationPtr) |
Set registration instance used to align clouds. More... |
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Protected Attributes |
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PointCloudConstPtr | last_cloud_ |
last registered point cloud More... |
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RegistrationPtr | registration_ |
registration instance to align clouds More... |
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Matrix4 | delta_transform_ |
estimated transforms More... |
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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.
Definition at line 75 of file incremental_registration.h.
Member Typedef Documentation
Matrix4
using pcl::registration::IncrementalRegistration< PointT, Scalar >::Matrix4 = typename pcl::Registration<PointT, PointT, Scalar>::Matrix4 |
Definition at line 81 of file incremental_registration.h.
PointCloudConstPtr
using pcl::registration::IncrementalRegistration< PointT, Scalar >::PointCloudConstPtr = typename pcl::PointCloud<PointT>::ConstPtr |
Definition at line 78 of file incremental_registration.h.
PointCloudPtr
using pcl::registration::IncrementalRegistration< PointT, Scalar >::PointCloudPtr = typename pcl::PointCloud<PointT>::Ptr |
Definition at line 77 of file incremental_registration.h.
RegistrationPtr
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()
pcl::registration::IncrementalRegistration< PointT, Scalar >::IncrementalRegistration |
Definition at line 46 of file incremental_registration.hpp.
~IncrementalRegistration()
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inlinevirtual |
Empty destructor.
Definition at line 86 of file incremental_registration.h.
Member Function Documentation
getAbsoluteTransform()
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inline |
Get estimated overall transform.
Definition at line 91 of file incremental_registration.hpp.
getDeltaTransform()
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inline |
Get estimated transform between the last two registered clouds.
Definition at line 84 of file incremental_registration.hpp.
registerCloud()
bool pcl::registration::IncrementalRegistration< PointT, Scalar >::registerCloud | ( | const PointCloudConstPtr & | cloud, |
const Matrix4 & | delta_estimate = Matrix4::Identity() |
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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
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[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 incremental_registration.hpp.
reset()
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inline |
Reset incremental Registration without resetting registration_.
Definition at line 98 of file incremental_registration.hpp.
setRegistration()
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inline |
Set registration instance used to align clouds.
Definition at line 106 of file incremental_registration.hpp.
Member Data Documentation
abs_transform_
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protected |
Definition at line 123 of file incremental_registration.h.
delta_transform_
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protected |
estimated transforms
Definition at line 122 of file incremental_registration.h.
last_cloud_
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protected |
last registered point cloud
Definition at line 116 of file incremental_registration.h.
registration_
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protected |
registration instance to align clouds
Definition at line 119 of file incremental_registration.h.
The documentation for this class was generated from the following files:
- pcl/registration/incremental_registration.h
- pcl/registration/impl/incremental_registration.hpp
© 2009–2012, Willow Garage, Inc.
© 2012–, Open Perception, Inc.
Licensed under the BSD License.
https://pointclouds.org/documentation/classpcl_1_1registration_1_1_incremental_registration.html