131 lines
4.5 KiB
C++
131 lines
4.5 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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#pragma once
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#include <pcl/registration/registration.h>
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#include <pcl/point_cloud.h>
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namespace pcl {
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namespace registration {
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/** \brief Meta @ref Registration class
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* \note This method accumulates all registered points and becomes more costly with each
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* registered point cloud.
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*
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* This class provides a way to register a stream of clouds where each cloud
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* will be aligned to the conglomerate of all previous clouds.
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*
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* \code
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* IterativeClosestPoint<PointXYZ,PointXYZ>::Ptr icp
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* (new IterativeClosestPoint<PointXYZ,PointXYZ>);
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* icp->setMaxCorrespondenceDistance (0.05);
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* icp->setMaximumIterations (50);
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*
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* MetaRegistration<PointXYZ> mreg;
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* mreg.setRegistration (icp);
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*
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* while (true)
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* {
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* PointCloud<PointXYZ>::Ptr cloud (new PointCloud<PointXYZ>);
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* read_cloud (*cloud);
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* mreg.registerCloud (cloud);
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*
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* PointCloud<PointXYZ>::Ptr tmp (new PointCloud<PointXYZ>);
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* transformPointCloud (*cloud, *tmp, mreg.getAbsoluteTransform ());
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* write_cloud (*tmp);
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* }
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* \endcode
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*
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* \author Michael 'v4hn' Goerner
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* \ingroup registration
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*/
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template <typename PointT, typename Scalar = float>
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class MetaRegistration {
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public:
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using PointCloudPtr = typename pcl::PointCloud<PointT>::Ptr;
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using PointCloudConstPtr = typename pcl::PointCloud<PointT>::ConstPtr;
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using RegistrationPtr = typename pcl::Registration<PointT, PointT, Scalar>::Ptr;
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using Matrix4 = typename pcl::Registration<PointT, PointT, Scalar>::Matrix4;
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MetaRegistration();
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/** \brief Empty destructor */
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virtual ~MetaRegistration(){};
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/** \brief Register new point cloud
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* \note You have to set a valid registration object with \ref setRegistration before
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* using this \param[in] cloud point cloud to register \param[in] delta_estimate
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* estimated transform between last registered cloud and this one \return true if
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* registration converged
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*/
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bool
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registerCloud(const PointCloudConstPtr& cloud,
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const Matrix4& delta_estimate = Matrix4::Identity());
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/** \brief Get estimated transform of the last registered cloud */
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inline Matrix4
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getAbsoluteTransform() const;
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/** \brief Reset MetaRegistration without resetting registration_ */
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inline void
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reset();
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/** \brief Set registration instance used to align clouds */
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inline void setRegistration(RegistrationPtr);
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/** \brief get accumulated meta point cloud */
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inline PointCloudConstPtr
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getMetaCloud() const;
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protected:
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/** \brief registered accumulated point cloud */
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PointCloudPtr full_cloud_;
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/** \brief registration instance to align clouds */
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RegistrationPtr registration_;
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/** \brief estimated transform */
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Matrix4 abs_transform_;
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};
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} // namespace registration
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} // namespace pcl
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#include <pcl/registration/impl/meta_registration.hpp>
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