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