Point Cloud Library (PCL)
1.9.1
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Meta Registration class. More...
#include <pcl/registration/meta_registration.h>
Public Types | |
typedef pcl::PointCloud< PointT >::Ptr | PointCloudPtr |
typedef pcl::PointCloud< PointT >::ConstPtr | PointCloudConstPtr |
typedef pcl::Registration< PointT, PointT, Scalar >::Ptr | RegistrationPtr |
typedef pcl::Registration< PointT, PointT, Scalar >::Matrix4 | Matrix4 |
Public Member Functions | |
MetaRegistration () | |
virtual | ~MetaRegistration () |
Empty destructor. More... | |
bool | registerCloud (const PointCloudConstPtr &cloud, const Matrix4 &delta_estimate=Matrix4::Identity()) |
Register new point cloud. More... | |
Matrix4 | getAbsoluteTransform () const |
Get estimated transform of the last registered cloud. More... | |
void | reset () |
Reset MetaICP without resetting registration_. More... | |
void | setRegistration (RegistrationPtr) |
Set registration instance used to align clouds. More... | |
PointCloudConstPtr | getMetaCloud () const |
get accumulated meta point cloud More... | |
Protected Attributes | |
PointCloudPtr | full_cloud_ |
registered accumulated point cloud More... | |
RegistrationPtr | registration_ |
registration instance to align clouds More... | |
Matrix4 | abs_transform_ |
estimated transform More... | |
Meta Registration class.
This class provides a way to register a stream of clouds where each cloud will be aligned to the conglomerate of all previous clouds.
Definition at line 77 of file meta_registration.h.
typedef pcl::Registration<PointT,PointT,Scalar>::Matrix4 pcl::registration::MetaRegistration< PointT, Scalar >::Matrix4 |
Definition at line 83 of file meta_registration.h.
typedef pcl::PointCloud<PointT>::ConstPtr pcl::registration::MetaRegistration< PointT, Scalar >::PointCloudConstPtr |
Definition at line 80 of file meta_registration.h.
typedef pcl::PointCloud<PointT>::Ptr pcl::registration::MetaRegistration< PointT, Scalar >::PointCloudPtr |
Definition at line 79 of file meta_registration.h.
typedef pcl::Registration<PointT,PointT,Scalar>::Ptr pcl::registration::MetaRegistration< PointT, Scalar >::RegistrationPtr |
Definition at line 82 of file meta_registration.h.
pcl::registration::MetaRegistration< PointT, Scalar >::MetaRegistration | ( | ) |
Definition at line 42 of file meta_registration.hpp.
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inlinevirtual |
Empty destructor.
Definition at line 88 of file meta_registration.h.
References pcl::registration::MetaRegistration< PointT, Scalar >::getAbsoluteTransform(), pcl::registration::MetaRegistration< PointT, Scalar >::getMetaCloud(), pcl::registration::MetaRegistration< PointT, Scalar >::registerCloud(), pcl::registration::MetaRegistration< PointT, Scalar >::reset(), and pcl::registration::MetaRegistration< PointT, Scalar >::setRegistration().
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inline |
Get estimated transform of the last registered cloud.
Definition at line 78 of file meta_registration.hpp.
References pcl::registration::MetaRegistration< PointT, Scalar >::abs_transform_.
Referenced by pcl::registration::MetaRegistration< PointT, Scalar >::~MetaRegistration().
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inline |
get accumulated meta point cloud
Definition at line 97 of file meta_registration.hpp.
References pcl::registration::MetaRegistration< PointT, Scalar >::full_cloud_.
Referenced by pcl::registration::MetaRegistration< PointT, Scalar >::~MetaRegistration().
bool pcl::registration::MetaRegistration< PointT, Scalar >::registerCloud | ( | const PointCloudConstPtr & | cloud, |
const Matrix4 & | delta_estimate = Matrix4::Identity () |
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) |
Register new point cloud.
[in] | cloud | point cloud to register |
[in] | delta_estimate | estimated transform between last registered cloud and this one |
Definition at line 47 of file meta_registration.hpp.
References pcl::registration::MetaRegistration< PointT, Scalar >::abs_transform_, pcl::registration::MetaRegistration< PointT, Scalar >::full_cloud_, pcl::registration::MetaRegistration< PointT, Scalar >::registration_, and pcl::transformPointCloud().
Referenced by pcl::registration::MetaRegistration< PointT, Scalar >::~MetaRegistration().
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inline |
Reset MetaICP without resetting registration_.
Definition at line 84 of file meta_registration.hpp.
References pcl::registration::MetaRegistration< PointT, Scalar >::abs_transform_, and pcl::registration::MetaRegistration< PointT, Scalar >::full_cloud_.
Referenced by pcl::registration::MetaRegistration< PointT, Scalar >::~MetaRegistration().
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inline |
Set registration instance used to align clouds.
Definition at line 91 of file meta_registration.hpp.
References pcl::registration::MetaRegistration< PointT, Scalar >::registration_.
Referenced by pcl::registration::MetaRegistration< PointT, Scalar >::~MetaRegistration().
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protected |
estimated transform
Definition at line 123 of file meta_registration.h.
Referenced by pcl::registration::MetaRegistration< PointT, Scalar >::getAbsoluteTransform(), pcl::registration::MetaRegistration< PointT, Scalar >::registerCloud(), and pcl::registration::MetaRegistration< PointT, Scalar >::reset().
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protected |
registered accumulated point cloud
Definition at line 117 of file meta_registration.h.
Referenced by pcl::registration::MetaRegistration< PointT, Scalar >::getMetaCloud(), pcl::registration::MetaRegistration< PointT, Scalar >::registerCloud(), and pcl::registration::MetaRegistration< PointT, Scalar >::reset().
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protected |
registration instance to align clouds
Definition at line 120 of file meta_registration.h.
Referenced by pcl::registration::MetaRegistration< PointT, Scalar >::registerCloud(), and pcl::registration::MetaRegistration< PointT, Scalar >::setRegistration().