Add a MetaICP class #1426
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Add a MetaICP class #1426
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This is not limited to ICP, any registration algorithm will work, right? |
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Yes. I was mirroring the IncrementalICP class (which also is not limited to
ICP), so I called it MetaICP. This is also the term for this method in
my working group.
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I would propose to rename both classes to *Registration. |
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+1 for renaming to *Registration. |
| bool | ||
| registerCloud (const PointCloudConstPtr& cloud, const Matrix4& delta_estimate = Matrix4::Identity ()); | ||
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| /** \brief Get estimated transform */ |
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... of the last registered cloud?
This is quite similar in spirit to IncrementalICP, but matches new clouds to all previously registered clouds instead of only the last one. This is computationally more expensive, but provides a more robust matching when successive clouds do not alway cover nearby parts of the environment. As this (just as IncrementalICP) is a standard method to apply ICP in practice, I expected to find this functionality in PCL. As it wasn't there yet, I wrote this class.
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I renamed the class to MetaRegistration and adjusted the interfaces as proposed.
As this request is not about IncrementalICP, I will not add changes for that here.
You're welcome to add a patch for this class yourself.
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This is quite similar in spirit to IncrementalICP, but matches new clouds to
all previously registered clouds instead of only the last one. This is
computationally more expensive, but provides a more robust matching when
successive clouds do not alway cover nearby parts of the environment.
As this (just as IncrementalICP) is a standard method to apply ICP in
practice, I expected to find this functionality in PCL. As it wasn't there
yet, I wrote this class.