incremental_registration.h

/*
 * Software License Agreement (BSD License)
 *
 *  Point Cloud Library (PCL) - www.pointclouds.org
 *  Copyright (c) 2015, Michael 'v4hn' Goerner
 *  Copyright (c) 2015-, Open Perception, Inc.
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 *     with the distribution.
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#pragma once
 
#include <pcl/registration/registration.h>
#include <pcl/point_cloud.h>
 
namespace pcl {
namespace registration {
 
/** \brief Incremental @ref IterativeClosestPoint class
 *
 * This class provides a way to register a stream of clouds where each cloud will be
 * aligned to the previous cloud.
 *
 * \code
 * IterativeClosestPoint<PointXYZ,PointXYZ>::Ptr icp
 *   (new IterativeClosestPoint<PointXYZ,PointXYZ>);
 * icp->setMaxCorrespondenceDistance (0.05);
 * icp->setMaximumIterations (50);
 *
 * IncrementalRegistration<PointXYZ> iicp;
 * iicp.setRegistration (icp);
 *
 * while (true){
 *   PointCloud<PointXYZ>::Ptr cloud (new PointCloud<PointXYZ>);
 *   read_cloud (*cloud);
 *   iicp.registerCloud (cloud);
 *
 *   PointCloud<PointXYZ>::Ptr tmp (new PointCloud<PointXYZ>);
 *   transformPointCloud (*cloud, *tmp, iicp.getAbsoluteTransform ());
 *   write_cloud (*tmp);
 * }
 * \endcode
 *
 * \author Michael 'v4hn' Goerner
 * \ingroup registration
 */
template <typename PointT, typename Scalar = float>
class IncrementalRegistration {
public:
  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;
 
  IncrementalRegistration();
 
  /** \brief Empty destructor */
  virtual ~IncrementalRegistration() = default;
 
  /** \brief Register new point cloud incrementally
   * \note You have to set a valid registration object with @ref setRegistration before
   * using this \note The class doesn't copy cloud. If you afterwards change cloud, that
   * will affect this class. \param[in] cloud point cloud to register \param[in]
   * delta_estimate estimated transform between last registered cloud and this one
   * \return true if registration converged
   */
  bool
  registerCloud(const PointCloudConstPtr& cloud,
                const Matrix4& delta_estimate = Matrix4::Identity());
 
  /** \brief Get estimated transform between the last two registered clouds */
  inline Matrix4
  getDeltaTransform() const;
 
  /** \brief Get estimated overall transform */
  inline Matrix4
  getAbsoluteTransform() const;
 
  /** \brief Reset incremental Registration without resetting registration_ */
  inline void
  reset();
 
  /** \brief Set registration instance used to align clouds */
  inline void setRegistration(RegistrationPtr);
 
  PCL_MAKE_ALIGNED_OPERATOR_NEW
 
protected:
  /** \brief last registered point cloud */
  PointCloudConstPtr last_cloud_;
 
  /** \brief registration instance to align clouds */
  RegistrationPtr registration_;
 
  /** \brief estimated transforms */
  Matrix4 delta_transform_;
  Matrix4 abs_transform_;
};
 
} // namespace registration
} // namespace pcl
 
#include <pcl/registration/impl/incremental_registration.hpp>