38 #ifndef PCL_REGISTRATION_INCREMENTAL_REGISTRATION_H_ 39 #define PCL_REGISTRATION_INCREMENTAL_REGISTRATION_H_ 41 #include <pcl/point_cloud.h> 42 #include <pcl/registration/registration.h> 45 namespace registration {
73 template <
typename Po
intT,
typename Scalar =
float>
95 registerCloud (
const PointCloudConstPtr& cloud,
const Matrix4& delta_estimate = Matrix4::Identity ());
128 #include <pcl/registration/impl/incremental_registration.hpp> Matrix4 delta_transform_
estimated transforms
bool registerCloud(const PointCloudConstPtr &cloud, const Matrix4 &delta_estimate=Matrix4::Identity())
Register new point cloud incrementally.
boost::shared_ptr< Registration< PointSource, PointTarget, Scalar > > Ptr
Eigen::Matrix< Scalar, 4, 4 > Matrix4
boost::shared_ptr< PointCloud< PointT > > Ptr
pcl::Registration< PointT, PointT, Scalar >::Matrix4 Matrix4
PointCloudConstPtr last_cloud_
last registered point cloud
IncrementalRegistration()
void reset()
Reset incremental Registration without resetting registration_.
RegistrationPtr registration_
registration instance to align clouds
boost::shared_ptr< const PointCloud< PointT > > ConstPtr
Incremental IterativeClosestPoint class.
pcl::PointCloud< PointT >::Ptr PointCloudPtr
Matrix4 getAbsoluteTransform() const
Get estimated overall transform.
Matrix4 getDeltaTransform() const
Get estimated transform between the last two registered clouds.
pcl::Registration< PointT, PointT, Scalar >::Ptr RegistrationPtr
void setRegistration(RegistrationPtr)
Set registration instance used to align clouds.
virtual ~IncrementalRegistration()
Empty destructor.
pcl::PointCloud< PointT >::ConstPtr PointCloudConstPtr