1 /*
2  * Software License Agreement (BSD License)
3  *
4  *  Point Cloud Library (PCL) - www.pointclouds.org
5  *  Copyright (c) 2015, Michael 'v4hn' Goerner
6  *  Copyright (c) 2015-, Open Perception, Inc.
7  *
8  *  All rights reserved.
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10  *  Redistribution and use in source and binary forms, with or without
11  *  modification, are permitted provided that the following conditions
12  *  are met:
13  *
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15  *     notice, this list of conditions and the following disclaimer.
16  *   * Redistributions in binary form must reproduce the above
17  *     copyright notice, this list of conditions and the following
18  *     disclaimer in the documentation and/or other materials provided
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20  *   * Neither the name of the copyright holder(s) nor the names of its
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22  *     from this software without specific prior written permission.
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24  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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36  */
37 
38 #pragma once
39 
40 #include <pcl/registration/registration.h>
41 #include <pcl/point_cloud.h>
42 
43 namespace pcl {
44 namespace registration {
45 
46 /** \brief Meta @ref Registration class
47  * \note This method accumulates all registered points and becomes more costly with each
48  * registered point cloud.
49  *
50  * This class provides a way to register a stream of clouds where each cloud
51  * will be aligned to the conglomerate of all previous clouds.
52  *
53  * \code
54  * IterativeClosestPoint<PointXYZ,PointXYZ>::Ptr icp
55  *   (new IterativeClosestPoint<PointXYZ,PointXYZ>);
56  * icp->setMaxCorrespondenceDistance (0.05);
57  * icp->setMaximumIterations (50);
58  *
59  * MetaRegistration<PointXYZ> mreg;
60  * mreg.setRegistration (icp);
61  *
62  * while (true)
63  * {
64  *   PointCloud<PointXYZ>::Ptr cloud (new PointCloud<PointXYZ>);
65  *   read_cloud (*cloud);
66  *   mreg.registerCloud (cloud);
67  *
68  *   PointCloud<PointXYZ>::Ptr tmp (new PointCloud<PointXYZ>);
69  *   transformPointCloud (*cloud, *tmp, mreg.getAbsoluteTransform ());
70  *   write_cloud (*tmp);
71  * }
72  * \endcode
73  *
74  * \author Michael 'v4hn' Goerner
75  * \ingroup registration
76  */
77 template <typename PointT, typename Scalar = float>
78 class MetaRegistration {
79 public:
80   using PointCloudPtr = typename pcl::PointCloud<PointT>::Ptr;
81   using PointCloudConstPtr = typename pcl::PointCloud<PointT>::ConstPtr;
82 
83   using RegistrationPtr = typename pcl::Registration<PointT, PointT, Scalar>::Ptr;
84   using Matrix4 = typename pcl::Registration<PointT, PointT, Scalar>::Matrix4;
85 
86   MetaRegistration();
87 
88   /** \brief Empty destructor */
~MetaRegistration()89   virtual ~MetaRegistration(){};
90 
91   /** \brief Register new point cloud
92    * \note You have to set a valid registration object with \ref setRegistration before
93    * using this \param[in] cloud point cloud to register \param[in] delta_estimate
94    * estimated transform between last registered cloud and this one \return true if
95    * registration converged
96    */
97   bool
98   registerCloud(const PointCloudConstPtr& cloud,
99                 const Matrix4& delta_estimate = Matrix4::Identity());
100 
101   /** \brief Get estimated transform of the last registered cloud */
102   inline Matrix4
103   getAbsoluteTransform() const;
104 
105   /** \brief Reset MetaRegistration without resetting registration_ */
106   inline void
107   reset();
108 
109   /** \brief Set registration instance used to align clouds */
110   inline void setRegistration(RegistrationPtr);
111 
112   /** \brief get accumulated meta point cloud */
113   inline PointCloudConstPtr
114   getMetaCloud() const;
115 
116 protected:
117   /** \brief registered accumulated point cloud */
118   PointCloudPtr full_cloud_;
119 
120   /** \brief registration instance to align clouds */
121   RegistrationPtr registration_;
122 
123   /** \brief estimated transform */
124   Matrix4 abs_transform_;
125 };
126 
127 } // namespace registration
128 } // namespace pcl
129 
130 #include <pcl/registration/impl/meta_registration.hpp>
131