Point Cloud Library (PCL)  1.3.1
Public Types | Public Member Functions
pcl::registration::IncrementalRegistration Class Reference

#include <pcl/registration/incremental_registration.h>

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List of all members.

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)
PointCloudgetModel ()
 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 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.

Member Typedef Documentation

Reimplemented from pcl::PCLBase< PointT >.

Definition at line 34 of file incremental_registration.h.

Reimplemented from pcl::PCLBase< PointT >.

Definition at line 36 of file incremental_registration.h.

Reimplemented from pcl::PCLBase< PointT >.

Definition at line 35 of file incremental_registration.h.


Constructor & Destructor Documentation

pcl::registration::IncrementalRegistration::IncrementalRegistration ( ) [inline]

Definition at line 38 of file incremental_registration.h.

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

Definition at line 52 of file incremental_registration.h.


Member Function Documentation

void pcl::registration::IncrementalRegistration::align ( PointCloud output,
bool  use_vanilla_ICP = false 
) [inline]

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

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

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

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

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

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

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

Definition at line 55 of file incremental_registration.h.

void pcl::registration::IncrementalRegistration::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.

void pcl::registration::IncrementalRegistration::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.

double pcl::registration::IncrementalRegistration::getDownsamplingLeafSizeInput ( ) [inline]

get the leaf size used for downsampling the input cloud

Definition at line 204 of file incremental_registration.h.

void pcl::registration::IncrementalRegistration::getDownsamplingLeafSizeModel ( ) [inline]

get the leaf size used for downsampling the incrementally built model

Definition at line 209 of file incremental_registration.h.

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

Get a pointer to the vector of indices used.

Definition at line 171 of file pcl_base.h.

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

Get a pointer to the input point cloud dataset.

Definition at line 99 of file pcl_base.h.

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

get the incrementally point map

Definition at line 191 of file incremental_registration.h.

void pcl::registration::IncrementalRegistration::getRegistrationDistanceThreshold ( ) [inline]

get the distance threshold for the ICP-based registration

Definition at line 214 of file incremental_registration.h.

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

get latest (global) transformation

Definition at line 197 of file incremental_registration.h.

const PointT& pcl::PCLBase::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:
posposition in indices_ vector

Definition at line 178 of file pcl_base.h.

void pcl::registration::IncrementalRegistration::reset ( ) [inline]

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

Definition at line 194 of file incremental_registration.h.

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

set the leaf size used for downsampling the input cloud

Definition at line 202 of file incremental_registration.h.

void pcl::registration::IncrementalRegistration::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.

void pcl::PCLBase::setIndices ( const IndicesPtr indices) [inline, inherited]

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

Parameters:
indicesa pointer to the vector of indices that represents the input data.

Definition at line 105 of file pcl_base.h.

void pcl::PCLBase::setIndices ( const PointIndicesConstPtr indices) [inline, inherited]

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

Parameters:
indicesa pointer to the vector of indices that represents the input data.

Definition at line 116 of file pcl_base.h.

void pcl::PCLBase::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_startthe offset on rows
col_startthe offset on columns
nb_rowsthe number of rows to be considered row_start included
nb_colsthe number of columns to be considered col_start included

Definition at line 132 of file pcl_base.h.

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

Provide a pointer to the input dataset.

Parameters:
cloudthe const boost shared pointer to a PointCloud message

Definition at line 95 of file pcl_base.h.

void pcl::registration::IncrementalRegistration::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:
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