38 #ifndef PCL_REGISTRATION_IMPL_INCREMENTAL_REGISTRATION_HPP_ 39 #define PCL_REGISTRATION_IMPL_INCREMENTAL_REGISTRATION_HPP_ 41 template <
typename Po
intT,
typename Scalar>
43 delta_transform_ (
Matrix4::Identity ()),
44 abs_transform_ (
Matrix4::Identity ())
47 template <
typename Po
intT,
typename Scalar>
bool 90 template <
typename Po
intT,
typename Scalar>
inline void 97 template <
typename Po
intT,
typename Scalar>
inline void Matrix4 delta_transform_
estimated transforms
bool registerCloud(const PointCloudConstPtr &cloud, const Matrix4 &delta_estimate=Matrix4::Identity())
Register new point cloud incrementally.
pcl::Registration< PointT, PointT, Scalar >::Matrix4 Matrix4
PointCloudConstPtr last_cloud_
last registered point cloud
IncrementalRegistration()
void reset()
Reset incremental Registration without resetting registration_.
RegistrationPtr registration_
registration instance to align clouds
PointCloud represents the base class in PCL for storing collections of 3D points. ...
Matrix4 getAbsoluteTransform() const
Get estimated overall transform.
Matrix4 getDeltaTransform() const
Get estimated transform between the last two registered clouds.
pcl::Registration< PointT, PointT, Scalar >::Ptr RegistrationPtr
void setRegistration(RegistrationPtr)
Set registration instance used to align clouds.
pcl::PointCloud< PointT >::ConstPtr PointCloudConstPtr