template<typename PointT, typename Scalar = float>
class pcl::registration::IncrementalRegistration< PointT, Scalar >

Класс инкрементальной регистрации IterativeClosestPoint.

Этот класс позволяет регистрировать поток облаков, совмещая каждое облако с предыдущим.

IterativeClosestPoint<PointXYZ,PointXYZ>::Ptr icp
 (new IterativeClosestPoint<PointXYZ,PointXYZ>);
icp->setMaxCorrespondenceDistance (0.05);
icp->setMaximumIterations (50);
 
IncrementalRegistration<PointXYZ> iicp;
iicp.setRegistration (icp);
 
while (true){
 PointCloud<PointXYZ>::Ptr cloud (new PointCloud<PointXYZ>);
 read_cloud (*cloud);
 iicp.registerCloud (cloud);
 
 PointCloud<PointXYZ>::Ptr tmp (new PointCloud<PointXYZ>);
 transformPointCloud (*cloud, *tmp, iicp.getAbsoluteTransform ());
 write_cloud (*tmp);
}
pcl::IterativeClosestPoint::Ptrshared_ptr< IterativeClosestPoint< PointSource, PointTarget, Scalar > > PtrDefinition: icp.h:113
pcl::IterativeClosestPoint::Ptr
shared_ptr< IterativeClosestPoint< PointSource, PointTarget, Scalar > > Ptr
Definition: icp.h:113
pcl::PointCloudPointCloud represents the base class in PCL for storing collections of 3D points.Definition: point_cloud.h:173
pcl::PointCloud
PointCloud represents the base class in PCL for storing collections of 3D points.
Definition: point_cloud.h:173
pcl::PointCloud::Ptrshared_ptr< PointCloud< PointT > > PtrDefinition: point_cloud.h:413
pcl::PointCloud::Ptr
shared_ptr< PointCloud< PointT > > Ptr
Definition: point_cloud.h:413
pcl::transformPointCloudvoid transformPointCloud(const pcl::PointCloud< PointT > &cloud_in, pcl::PointCloud< PointT > &cloud_out, const Eigen::Matrix< Scalar, 4, 4 > &transform, bool copy_all_fields)Apply a rigid transform defined by a 4x4 matrix.Definition: transforms.hpp:221
pcl::transformPointCloud
void transformPointCloud(const pcl::PointCloud< PointT > &cloud_in, pcl::PointCloud< PointT > &cloud_out, const Eigen::Matrix< Scalar, 4, 4 > &transform, bool copy_all_fields)
Apply a rigid transform defined by a 4x4 matrix.
Definition: transforms.hpp:221

Автор

Michael 'v4hn' Goerner

Определено в строке 75 файла incremental_registration.h.