incremental_registration.hpp

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#ifndef PCL_REGISTRATION_IMPL_INCREMENTAL_REGISTRATION_HPP_
#define PCL_REGISTRATION_IMPL_INCREMENTAL_REGISTRATION_HPP_
 
namespace pcl {
 
namespace registration {
 
template <typename PointT, typename Scalar>
IncrementalRegistration<PointT, Scalar>::IncrementalRegistration()
: delta_transform_(Matrix4::Identity()), abs_transform_(Matrix4::Identity())
{}
 
template <typename PointT, typename Scalar>
bool
IncrementalRegistration<PointT, Scalar>::registerCloud(const PointCloudConstPtr& cloud,
                                                       const Matrix4& delta_estimate)
{
  assert(registration_);
 
  if (!last_cloud_) {
    last_cloud_ = cloud;
    abs_transform_ = delta_transform_ = delta_estimate;
    return (true);
  }
 
  registration_->setInputSource(cloud);
  registration_->setInputTarget(last_cloud_);
 
  {
    pcl::PointCloud<PointT> p;
    registration_->align(p, delta_estimate);
  }
 
  bool converged = registration_->hasConverged();
 
  if (converged) {
    delta_transform_ = registration_->getFinalTransformation();
    abs_transform_ *= delta_transform_;
    last_cloud_ = cloud;
  }
 
  return (converged);
}
 
template <typename PointT, typename Scalar>
inline typename pcl::registration::IncrementalRegistration<PointT, Scalar>::Matrix4
IncrementalRegistration<PointT, Scalar>::getDeltaTransform() const
{
  return (delta_transform_);
}
 
template <typename PointT, typename Scalar>
inline typename pcl::registration::IncrementalRegistration<PointT, Scalar>::Matrix4
IncrementalRegistration<PointT, Scalar>::getAbsoluteTransform() const
{
  return (abs_transform_);
}
 
template <typename PointT, typename Scalar>
inline void
IncrementalRegistration<PointT, Scalar>::reset()
{
  last_cloud_.reset();
  delta_transform_ = abs_transform_ = Matrix4::Identity();
}
 
template <typename PointT, typename Scalar>
inline void
IncrementalRegistration<PointT, Scalar>::setRegistration(RegistrationPtr registration)
{
  registration_ = registration;
}
 
} // namespace registration
} // namespace pcl
 
#endif /*PCL_REGISTRATION_IMPL_INCREMENTAL_REGISTRATION_HPP_*/