#include <pcl/registration/incremental_registration.h>

Inheritance diagram for pcl::registration::IncrementalRegistration< PointT >:

Collaboration diagram for pcl::registration::IncrementalRegistration< PointT >:

Public Types
typedef pcl::PointCloud< PointT >	PointCloud
typedef PointCloud::Ptr	PointCloudPtr
typedef PointCloud::ConstPtr	PointCloudConstPtr
typedef PointIndices::Ptr	PointIndicesPtr
typedef PointIndices::ConstPtr	PointIndicesConstPtr
Public Member Functions
	IncrementalRegistration ()
virtual	~IncrementalRegistration ()
void	align (PointCloud &output, bool use_vanilla_ICP=false)
PointCloud *	getModel ()
	get the incrementally point map
void	reset ()
	reset the incremental registration (re-empty point model and reset transformation matrix)
Eigen::Matrix4f	getTransformation ()
	get latest (global) transformation
void	setDownsamplingLeafSizeInput (double leaf_size)
	set the leaf size used for downsampling the input cloud
double	getDownsamplingLeafSizeInput ()
	get the leaf size used for downsampling the input cloud
void	setDownsamplingLeafSizeModel (double leaf_size)
	set the leaf size used for downsampling the incrementally built model
void	getDownsamplingLeafSizeModel ()
	get the leaf size used for downsampling the incrementally built model
void	setRegistrationDistanceThreshold (double threshold)
	set the distance threshold for the ICP-based registration
void	getRegistrationDistanceThreshold ()
	get the distance threshold for the ICP-based registration
void	downsampleInputCloud (bool enable)
	enable downsampling of the input cloud.
void	downsampleModelCloud (bool enable)
	enable downsampling of the incrementally built model cloud.
virtual void	setInputCloud (const PointCloudConstPtr &cloud)
	Provide a pointer to the input dataset.
PointCloudConstPtr const	getInputCloud ()
	Get a pointer to the input point cloud dataset.
void	setIndices (const IndicesPtr &indices)
	Provide a pointer to the vector of indices that represents the input data.
void	setIndices (const IndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data.
void	setIndices (const PointIndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data.
void	setIndices (size_t row_start, size_t col_start, size_t nb_rows, size_t nb_cols)
	Set the indices for the points laying within an interest region of the point cloud.
IndicesPtr const	getIndices ()
	Get a pointer to the vector of indices used.
const PointT &	operator[] (size_t pos)
	Override PointCloud operator[] to shorten code.

Detailed Description

template<typename PointT>
class pcl::registration::IncrementalRegistration< PointT >

Definition at line 22 of file incremental_registration.h.

Member Typedef Documentation

template<typename PointT >

typedef pcl::PointCloud<PointT> pcl::registration::IncrementalRegistration< PointT >::PointCloud

Reimplemented from pcl::PCLBase< PointT >.

Definition at line 32 of file incremental_registration.h.

template<typename PointT >

typedef PointCloud::ConstPtr pcl::registration::IncrementalRegistration< PointT >::PointCloudConstPtr

Reimplemented from pcl::PCLBase< PointT >.

Definition at line 34 of file incremental_registration.h.

template<typename PointT >

typedef PointCloud::Ptr pcl::registration::IncrementalRegistration< PointT >::PointCloudPtr

Reimplemented from pcl::PCLBase< PointT >.

Definition at line 33 of file incremental_registration.h.

template<typename PointT>

typedef PointIndices::ConstPtr pcl::PCLBase< PointT >::PointIndicesConstPtr [inherited]

Reimplemented in pcl::EuclideanClusterExtraction< PointT >, pcl::ExtractPolygonalPrismData< PointT >, pcl::SegmentDifferences< PointT >, pcl::LabeledEuclideanClusterExtraction< PointT >, pcl::SampleConsensusInitialAlignment< PointSource, PointTarget, FeatureT >, and pcl::PCA< PointT >.

Definition at line 79 of file pcl_base.h.

template<typename PointT>

typedef PointIndices::Ptr pcl::PCLBase< PointT >::PointIndicesPtr [inherited]

Reimplemented in pcl::EuclideanClusterExtraction< PointT >, pcl::ExtractPolygonalPrismData< PointT >, pcl::SegmentDifferences< PointT >, pcl::LabeledEuclideanClusterExtraction< PointT >, pcl::SampleConsensusInitialAlignment< PointSource, PointTarget, FeatureT >, and pcl::PCA< PointT >.

Definition at line 78 of file pcl_base.h.

Constructor & Destructor Documentation

template<typename PointT >

pcl::registration::IncrementalRegistration< PointT >::IncrementalRegistration ( ) [inline]

Definition at line 36 of file incremental_registration.h.

template<typename PointT >

virtual pcl::registration::IncrementalRegistration< PointT >::~IncrementalRegistration ( ) [inline, virtual]

Definition at line 50 of file incremental_registration.h.

Member Function Documentation

template<typename PointT >

void pcl::registration::IncrementalRegistration< PointT >::align	(	PointCloud &	output,
		bool	use_vanilla_ICP = `false`
	)		`[inline]`

INIT /////////////////////////////////////////////////////////////

DOWNSAMPLING /////////////////////////////////////////////////////

REGISTRATION /////////////////////////////////////////////////////

use GICP for registration //////////////////////////////////////

use normal icp /////////////////////////////////////////////////

DEINIT ///////////////////////////////////////////////////////////

Definition at line 53 of file incremental_registration.h.

template<typename PointT >

void pcl::registration::IncrementalRegistration< PointT >::downsampleInputCloud ( bool enable ) [inline]

enable downsampling of the input cloud.

The leaf size is set using setDownsamplingLeafSizeInput

Definition at line 217 of file incremental_registration.h.

template<typename PointT >

void pcl::registration::IncrementalRegistration< PointT >::downsampleModelCloud ( bool enable ) [inline]

enable downsampling of the incrementally built model cloud.

The leaf size is set using setDownsamplingLeafSizeModel

Definition at line 219 of file incremental_registration.h.

template<typename PointT >

double pcl::registration::IncrementalRegistration< PointT >::getDownsamplingLeafSizeInput ( ) [inline]

get the leaf size used for downsampling the input cloud

Definition at line 204 of file incremental_registration.h.

template<typename PointT >

void pcl::registration::IncrementalRegistration< PointT >::getDownsamplingLeafSizeModel ( ) [inline]

get the leaf size used for downsampling the incrementally built model

Definition at line 209 of file incremental_registration.h.

template<typename PointT>

IndicesPtr const pcl::PCLBase< PointT >::getIndices ( ) [inline, inherited]

Get a pointer to the vector of indices used.

Definition at line 190 of file pcl_base.h.

template<typename PointT>

PointCloudConstPtr const pcl::PCLBase< PointT >::getInputCloud ( ) [inline, inherited]

Get a pointer to the input point cloud dataset.

Definition at line 107 of file pcl_base.h.

template<typename PointT >

PointCloud* pcl::registration::IncrementalRegistration< PointT >::getModel ( ) [inline]

get the incrementally point map

Definition at line 191 of file incremental_registration.h.

template<typename PointT >

void pcl::registration::IncrementalRegistration< PointT >::getRegistrationDistanceThreshold ( ) [inline]

get the distance threshold for the ICP-based registration

Definition at line 214 of file incremental_registration.h.

template<typename PointT >

Eigen::Matrix4f pcl::registration::IncrementalRegistration< PointT >::getTransformation ( ) [inline]

get latest (global) transformation

Definition at line 197 of file incremental_registration.h.

template<typename PointT>

const PointT& pcl::PCLBase< PointT >::operator[] ( size_t pos ) [inline, inherited]

Override PointCloud operator[] to shorten code.

Note:: this method can be called instead of (*input_)[(*indices_)[pos]] or input_->points[(*indices_)[pos]]

Parameters:

pos	position in indices_ vector

Definition at line 197 of file pcl_base.h.

template<typename PointT >

void pcl::registration::IncrementalRegistration< PointT >::reset ( ) [inline]

reset the incremental registration (re-empty point model and reset transformation matrix)

Definition at line 194 of file incremental_registration.h.

template<typename PointT >

void pcl::registration::IncrementalRegistration< PointT >::setDownsamplingLeafSizeInput ( double leaf_size ) [inline]

set the leaf size used for downsampling the input cloud

Definition at line 202 of file incremental_registration.h.

template<typename PointT >

void pcl::registration::IncrementalRegistration< PointT >::setDownsamplingLeafSizeModel ( double leaf_size ) [inline]

set the leaf size used for downsampling the incrementally built model

Definition at line 207 of file incremental_registration.h.

template<typename PointT>

void pcl::PCLBase< PointT >::setIndices ( const IndicesPtr & indices ) [inline, inherited]

Provide a pointer to the vector of indices that represents the input data.

Parameters:

indices a pointer to the vector of indices that represents the input data.

Definition at line 113 of file pcl_base.h.

template<typename PointT>

void pcl::PCLBase< PointT >::setIndices ( const IndicesConstPtr & indices ) [inline, inherited]

Provide a pointer to the vector of indices that represents the input data.

Parameters:

indices a pointer to the vector of indices that represents the input data.

Definition at line 124 of file pcl_base.h.

template<typename PointT>

void pcl::PCLBase< PointT >::setIndices ( const PointIndicesConstPtr & indices ) [inline, inherited]

Provide a pointer to the vector of indices that represents the input data.

Parameters:

indices a pointer to the vector of indices that represents the input data.

Definition at line 135 of file pcl_base.h.

template<typename PointT>

void pcl::PCLBase< PointT >::setIndices	(	size_t	row_start,
		size_t	col_start,
		size_t	nb_rows,
		size_t	nb_cols
	)		`[inline, inherited]`

Set the indices for the points laying within an interest region of the point cloud.

Note:: you shouldn't call this method on unorganized point clouds!

Parameters:

row_start	the offset on rows
col_start	the offset on columns
nb_rows	the number of rows to be considered row_start included
nb_cols	the number of columns to be considered col_start included

Definition at line 151 of file pcl_base.h.

template<typename PointT>

virtual void pcl::PCLBase< PointT >::setInputCloud ( const PointCloudConstPtr & cloud ) [inline, virtual, inherited]

Provide a pointer to the input dataset.

Parameters:

cloud the const boost shared pointer to a PointCloud message

Reimplemented in pcl::PCA< PointT >, and pcl::GeneralizedIterativeClosestPoint< PointT, PointT >.

Definition at line 103 of file pcl_base.h.

template<typename PointT >

void pcl::registration::IncrementalRegistration< PointT >::setRegistrationDistanceThreshold ( double threshold ) [inline]

set the distance threshold for the ICP-based registration

Definition at line 212 of file incremental_registration.h.

The documentation for this class was generated from the following file:

/builddir/build/BUILD/PCL-1.5.1-Source/registration/include/pcl/registration/incremental_registration.h

Public Types

Public Member Functions

Detailed Description

template<typename PointT> class pcl::registration::IncrementalRegistration< PointT >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

template<typename PointT>
class pcl::registration::IncrementalRegistration< PointT >