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Merge pull request #1426 from v4hn/meta-icp
Add a MetaICP class
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registration/include/pcl/registration/impl/meta_registration.hpp
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,101 @@ | ||
| /* | ||
| * Software License Agreement (BSD License) | ||
| * | ||
| * Point Cloud Library (PCL) - www.pointclouds.org | ||
| * Copyright (c) 2015, Michael 'v4hn' Goerner | ||
| * Copyright (c) 2015-, Open Perception, Inc. | ||
| * | ||
| * All rights reserved. | ||
| * | ||
| * Redistribution and use in source and binary forms, with or without | ||
| * modification, are permitted provided that the following conditions | ||
| * are met: | ||
| * | ||
| * * Redistributions of source code must retain the above copyright | ||
| * notice, this list of conditions and the following disclaimer. | ||
| * * Redistributions in binary form must reproduce the above | ||
| * copyright notice, this list of conditions and the following | ||
| * disclaimer in the documentation and/or other materials provided | ||
| * with the distribution. | ||
| * * Neither the name of the copyright holder(s) nor the names of its | ||
| * contributors may be used to endorse or promote products derived | ||
| * from this software without specific prior written permission. | ||
| * | ||
| * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS | ||
| * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT | ||
| * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS | ||
| * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE | ||
| * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, | ||
| * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, | ||
| * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; | ||
| * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER | ||
| * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT | ||
| * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN | ||
| * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE | ||
| * POSSIBILITY OF SUCH DAMAGE. | ||
| */ | ||
|
|
||
| #ifndef PCL_REGISTRATION_IMPL_META_REGISTRATION_HPP_ | ||
| #define PCL_REGISTRATION_IMPL_META_REGISTRATION_HPP_ | ||
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| template <typename PointT, typename Scalar> | ||
| pcl::registration::MetaRegistration<PointT, Scalar>::MetaRegistration () : | ||
| abs_transform_ (Matrix4::Identity ()) | ||
| {} | ||
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| template <typename PointT, typename Scalar> bool | ||
| pcl::registration::MetaRegistration<PointT, Scalar>::registerCloud (const PointCloudConstPtr& new_cloud, const Matrix4& delta_estimate) | ||
| { | ||
| assert (registration_); | ||
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| PointCloudPtr new_cloud_transformed (new pcl::PointCloud<PointT> ()); | ||
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| if (!full_cloud_) | ||
| { | ||
| pcl::transformPointCloud(*new_cloud, *new_cloud_transformed, delta_estimate); | ||
| full_cloud_ = new_cloud_transformed; | ||
| abs_transform_ = delta_estimate; | ||
| return (true); | ||
| } | ||
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| registration_->setInputSource (new_cloud); | ||
| registration_->setInputTarget (full_cloud_); | ||
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| registration_->align (*new_cloud_transformed, abs_transform_ * delta_estimate); | ||
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| bool converged = registration_->hasConverged (); | ||
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| if (converged) | ||
| { | ||
| abs_transform_ = registration_->getFinalTransformation (); | ||
| *full_cloud_ += *new_cloud_transformed; | ||
| } | ||
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| return (converged); | ||
| } | ||
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| template <typename PointT, typename Scalar> inline typename pcl::registration::MetaRegistration<PointT, Scalar>::Matrix4 | ||
| pcl::registration::MetaRegistration<PointT, Scalar>::getAbsoluteTransform () const | ||
| { | ||
| return (abs_transform_); | ||
| } | ||
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| template <typename PointT, typename Scalar> inline void | ||
| pcl::registration::MetaRegistration<PointT, Scalar>::reset () | ||
| { | ||
| full_cloud_.reset (); | ||
| abs_transform_ = Matrix4::Identity (); | ||
| } | ||
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| template <typename PointT, typename Scalar> inline void | ||
| pcl::registration::MetaRegistration<PointT, Scalar>::setRegistration (RegistrationPtr reg) | ||
| { | ||
| registration_ = reg; | ||
| } | ||
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| template <typename PointT, typename Scalar> inline typename pcl::registration::MetaRegistration<PointT, Scalar>::PointCloudConstPtr | ||
| pcl::registration::MetaRegistration<PointT, Scalar>::getMetaCloud () const | ||
| { | ||
| return full_cloud_; | ||
| } | ||
| #endif /*PCL_REGISTRATION_IMPL_META_REGISTRATION_HPP_*/ |
131 changes: 131 additions & 0 deletions
131
registration/include/pcl/registration/meta_registration.h
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,131 @@ | ||
| /* | ||
| * Software License Agreement (BSD License) | ||
| * | ||
| * Point Cloud Library (PCL) - www.pointclouds.org | ||
| * Copyright (c) 2015, Michael 'v4hn' Goerner | ||
| * Copyright (c) 2015-, Open Perception, Inc. | ||
| * | ||
| * All rights reserved. | ||
| * | ||
| * Redistribution and use in source and binary forms, with or without | ||
| * modification, are permitted provided that the following conditions | ||
| * are met: | ||
| * | ||
| * * Redistributions of source code must retain the above copyright | ||
| * notice, this list of conditions and the following disclaimer. | ||
| * * Redistributions in binary form must reproduce the above | ||
| * copyright notice, this list of conditions and the following | ||
| * disclaimer in the documentation and/or other materials provided | ||
| * with the distribution. | ||
| * * Neither the name of the copyright holder(s) nor the names of its | ||
| * contributors may be used to endorse or promote products derived | ||
| * from this software without specific prior written permission. | ||
| * | ||
| * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS | ||
| * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT | ||
| * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS | ||
| * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE | ||
| * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, | ||
| * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, | ||
| * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; | ||
| * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER | ||
| * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT | ||
| * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN | ||
| * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE | ||
| * POSSIBILITY OF SUCH DAMAGE. | ||
| */ | ||
|
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| #ifndef PCL_REGISTRATION_META_REGISTRATION_H_ | ||
| #define PCL_REGISTRATION_META_REGISTRATION_H_ | ||
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| #include <pcl/point_cloud.h> | ||
| #include <pcl/registration/registration.h> | ||
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| namespace pcl { | ||
| namespace registration { | ||
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| /** \brief Meta @ref Registration class | ||
| * \note This method accumulates all registered points and becomes more costly with each registered point cloud. | ||
| * | ||
| * This class provides a way to register a stream of clouds where each cloud | ||
| * will be aligned to the conglomerate of all previous clouds. | ||
| * | ||
| * \code | ||
| * IterativeClosestPoint<PointXYZ,PointXYZ>::Ptr icp (new IterativeClosestPoint<PointXYZ,PointXYZ>); | ||
| * icp->setMaxCorrespondenceDistance (0.05); | ||
| * icp->setMaximumIterations (50); | ||
| * | ||
| * MetaRegistration<PointXYZ> mreg; | ||
| * mreg.setRegistration (icp); | ||
| * | ||
| * while (true) | ||
| * { | ||
| * PointCloud<PointXYZ>::Ptr cloud (new PointCloud<PointXYZ>); | ||
| * read_cloud (*cloud); | ||
| * mreg.registerCloud (cloud); | ||
| * | ||
| * PointCloud<PointXYZ>::Ptr tmp (new PointCloud<PointXYZ>); | ||
| * transformPointCloud (*cloud, *tmp, mreg.getAbsoluteTransform ()); | ||
| * write_cloud (*tmp); | ||
| * } | ||
| * \endcode | ||
| * | ||
| * \author Michael 'v4hn' Goerner | ||
| * \ingroup registration | ||
| */ | ||
| template <typename PointT, typename Scalar = float> | ||
| class MetaRegistration { | ||
| public: | ||
| typedef typename pcl::PointCloud<PointT>::Ptr PointCloudPtr; | ||
| typedef typename pcl::PointCloud<PointT>::ConstPtr PointCloudConstPtr; | ||
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| typedef typename pcl::Registration<PointT,PointT,Scalar>::Ptr RegistrationPtr; | ||
| typedef typename pcl::Registration<PointT,PointT,Scalar>::Matrix4 Matrix4; | ||
|
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| MetaRegistration (); | ||
|
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| /** \brief Empty destructor */ | ||
| virtual ~MetaRegistration () {}; | ||
|
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| /** \brief Register new point cloud | ||
| * \note You have to set a valid registration object with @ref setICP before using this | ||
| * \param[in] cloud point cloud to register | ||
| * \param[in] delta_estimate estimated transform between last registered cloud and this one | ||
| * \return true if ICP converged | ||
| */ | ||
| bool | ||
| registerCloud (const PointCloudConstPtr& cloud, const Matrix4& delta_estimate = Matrix4::Identity ()); | ||
|
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| /** \brief Get estimated transform of the last registered cloud */ | ||
| inline Matrix4 | ||
| getAbsoluteTransform () const; | ||
|
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| /** \brief Reset MetaICP without resetting registration_ */ | ||
| inline void | ||
| reset (); | ||
|
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| /** \brief Set registration instance used to align clouds */ | ||
| inline void | ||
| setRegistration (RegistrationPtr); | ||
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| /** \brief get accumulated meta point cloud */ | ||
| inline PointCloudConstPtr | ||
| getMetaCloud () const; | ||
| protected: | ||
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| /** \brief registered accumulated point cloud */ | ||
| PointCloudPtr full_cloud_; | ||
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| /** \brief registration instance to align clouds */ | ||
| RegistrationPtr registration_; | ||
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| /** \brief estimated transform */ | ||
| Matrix4 abs_transform_; | ||
| }; | ||
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| } | ||
| } | ||
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| #include <pcl/registration/impl/meta_registration.hpp> | ||
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| #endif /*PCL_REGISTRATION_META_REGISTRATION_H_*/ |