115 lines
3.8 KiB
C++
115 lines
3.8 KiB
C++
/*
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* Software License Agreement (BSD License)
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*
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* Point Cloud Library (PCL) - www.pointclouds.org
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* Copyright (c) 2015, Michael 'v4hn' Goerner
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* Copyright (c) 2015-, Open Perception, Inc.
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*
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of the copyright holder(s) nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*/
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#ifndef PCL_REGISTRATION_IMPL_INCREMENTAL_REGISTRATION_HPP_
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#define PCL_REGISTRATION_IMPL_INCREMENTAL_REGISTRATION_HPP_
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namespace pcl {
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namespace registration {
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template <typename PointT, typename Scalar>
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IncrementalRegistration<PointT, Scalar>::IncrementalRegistration()
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: delta_transform_(Matrix4::Identity()), abs_transform_(Matrix4::Identity())
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{}
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template <typename PointT, typename Scalar>
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bool
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IncrementalRegistration<PointT, Scalar>::registerCloud(const PointCloudConstPtr& cloud,
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const Matrix4& delta_estimate)
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{
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assert(registration_);
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if (!last_cloud_) {
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last_cloud_ = cloud;
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abs_transform_ = delta_transform_ = delta_estimate;
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return (true);
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}
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registration_->setInputSource(cloud);
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registration_->setInputTarget(last_cloud_);
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{
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pcl::PointCloud<PointT> p;
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registration_->align(p, delta_estimate);
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}
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bool converged = registration_->hasConverged();
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if (converged) {
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delta_transform_ = registration_->getFinalTransformation();
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abs_transform_ *= delta_transform_;
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last_cloud_ = cloud;
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}
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return (converged);
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}
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template <typename PointT, typename Scalar>
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inline typename pcl::registration::IncrementalRegistration<PointT, Scalar>::Matrix4
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IncrementalRegistration<PointT, Scalar>::getDeltaTransform() const
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{
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return (delta_transform_);
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}
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template <typename PointT, typename Scalar>
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inline typename pcl::registration::IncrementalRegistration<PointT, Scalar>::Matrix4
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IncrementalRegistration<PointT, Scalar>::getAbsoluteTransform() const
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{
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return (abs_transform_);
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}
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template <typename PointT, typename Scalar>
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inline void
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IncrementalRegistration<PointT, Scalar>::reset()
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{
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last_cloud_.reset();
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delta_transform_ = abs_transform_ = Matrix4::Identity();
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}
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template <typename PointT, typename Scalar>
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inline void
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IncrementalRegistration<PointT, Scalar>::setRegistration(RegistrationPtr registration)
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{
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registration_ = registration;
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}
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} // namespace registration
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} // namespace pcl
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#endif /*PCL_REGISTRATION_IMPL_INCREMENTAL_REGISTRATION_HPP_*/
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