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Rename IncrementalICP IncrementalRegistration #1451

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Dec 9, 2015
Merged

Rename IncrementalICP IncrementalRegistration #1451

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4 changes: 2 additions & 2 deletions registration/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -36,7 +36,7 @@ if(build)
"include/pcl/${SUBSYS_NAME}/ia_ransac.h"
"include/pcl/${SUBSYS_NAME}/icp.h"
"include/pcl/${SUBSYS_NAME}/joint_icp.h"
"include/pcl/${SUBSYS_NAME}/incremental_icp.h"
"include/pcl/${SUBSYS_NAME}/incremental_registration.h"
"include/pcl/${SUBSYS_NAME}/icp_nl.h"
"include/pcl/${SUBSYS_NAME}/lum.h"
"include/pcl/${SUBSYS_NAME}/elch.h"
Expand Down Expand Up @@ -94,7 +94,7 @@ if(build)
"include/pcl/${SUBSYS_NAME}/impl/ia_ransac.hpp"
"include/pcl/${SUBSYS_NAME}/impl/icp.hpp"
"include/pcl/${SUBSYS_NAME}/impl/joint_icp.hpp"
"include/pcl/${SUBSYS_NAME}/impl/incremental_icp.hpp"
"include/pcl/${SUBSYS_NAME}/impl/incremental_registration.hpp"
"include/pcl/${SUBSYS_NAME}/impl/icp_nl.hpp"
"include/pcl/${SUBSYS_NAME}/impl/elch.hpp"
"include/pcl/${SUBSYS_NAME}/impl/lum.hpp"
Expand Down
36 changes: 18 additions & 18 deletions ...pcl/registration/impl/incremental_icp.hpp → ...tration/impl/incremental_registration.hpp
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Expand Up @@ -35,19 +35,19 @@
* POSSIBILITY OF SUCH DAMAGE.
*/

#ifndef PCL_REGISTRATION_IMPL_INCREMENTAL_ICP_HPP_
#define PCL_REGISTRATION_IMPL_INCREMENTAL_ICP_HPP_
#ifndef PCL_REGISTRATION_IMPL_INCREMENTAL_REGISTRATION_HPP_
#define PCL_REGISTRATION_IMPL_INCREMENTAL_REGISTRATION_HPP_

template <typename PointT, typename Scalar>
pcl::registration::IncrementalICP<PointT, Scalar>::IncrementalICP () :
pcl::registration::IncrementalRegistration<PointT, Scalar>::IncrementalRegistration () :
delta_transform_ (Matrix4::Identity ()),
abs_transform_ (Matrix4::Identity ())
{}

template <typename PointT, typename Scalar> bool
pcl::registration::IncrementalICP<PointT, Scalar>::registerCloud (const PointCloudConstPtr& cloud, const Matrix4& delta_estimate)
pcl::registration::IncrementalRegistration<PointT, Scalar>::registerCloud (const PointCloudConstPtr& cloud, const Matrix4& delta_estimate)
{
assert (icp_);
assert (registration_);

if (!last_cloud_)
{
Expand All @@ -56,48 +56,48 @@ pcl::registration::IncrementalICP<PointT, Scalar>::registerCloud (const PointClo
return (true);
}

icp_->setInputSource (cloud);
icp_->setInputTarget (last_cloud_);
registration_->setInputSource (cloud);
registration_->setInputTarget (last_cloud_);

{
pcl::PointCloud<PointT> p;
icp_->align (p, delta_estimate);
registration_->align (p, delta_estimate);
}

bool converged = icp_->hasConverged ();
bool converged = registration_->hasConverged ();

if ( converged ){
delta_transform_ = icp_->getFinalTransformation ();
delta_transform_ = registration_->getFinalTransformation ();
abs_transform_ = abs_transform_ * delta_transform_;
last_cloud_ = cloud;
}

return (converged);
}

template <typename PointT, typename Scalar> inline typename pcl::registration::IncrementalICP<PointT, Scalar>::Matrix4
pcl::registration::IncrementalICP<PointT, Scalar>::getDeltaTransform () const
template <typename PointT, typename Scalar> inline typename pcl::registration::IncrementalRegistration<PointT, Scalar>::Matrix4
pcl::registration::IncrementalRegistration<PointT, Scalar>::getDeltaTransform () const
{
return (delta_transform_);
}

template <typename PointT, typename Scalar> inline typename pcl::registration::IncrementalICP<PointT, Scalar>::Matrix4
pcl::registration::IncrementalICP<PointT, Scalar>::getAbsoluteTransform () const
template <typename PointT, typename Scalar> inline typename pcl::registration::IncrementalRegistration<PointT, Scalar>::Matrix4
pcl::registration::IncrementalRegistration<PointT, Scalar>::getAbsoluteTransform () const
{
return (abs_transform_);
}

template <typename PointT, typename Scalar> inline void
pcl::registration::IncrementalICP<PointT, Scalar>::reset ()
pcl::registration::IncrementalRegistration<PointT, Scalar>::reset ()
{
last_cloud_.reset ();
delta_transform_ = abs_transform_ = Matrix4::Identity ();
}

template <typename PointT, typename Scalar> inline void
pcl::registration::IncrementalICP<PointT, Scalar>::setICP (RegistrationPtr icp)
pcl::registration::IncrementalRegistration<PointT, Scalar>::setRegistration (RegistrationPtr registration)
{
icp_ = icp;
registration_ = registration;
}

#endif /*PCL_REGISTRATION_IMPL_INCREMENTAL_ICP_HPP_*/
#endif /*PCL_REGISTRATION_IMPL_INCREMENTAL_REGISTRATION_HPP_*/
28 changes: 14 additions & 14 deletions ...nclude/pcl/registration/incremental_icp.h → ...l/registration/incremental_registration.h
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Original file line number Diff line number Diff line change
Expand Up @@ -35,8 +35,8 @@
* POSSIBILITY OF SUCH DAMAGE.
*/

#ifndef PCL_REGISTRATION_INCREMENTAL_ICP_H_
#define PCL_REGISTRATION_INCREMENTAL_ICP_H_
#ifndef PCL_REGISTRATION_INCREMENTAL_REGISTRATION_H_
#define PCL_REGISTRATION_INCREMENTAL_REGISTRATION_H_

#include <pcl/point_cloud.h>
#include <pcl/registration/registration.h>
Expand All @@ -53,8 +53,8 @@ namespace pcl {
* icp->setMaxCorrespondenceDistance (0.05);
* icp->setMaximumIterations (50);
*
* IncrementalICP<PointXYZ> iicp;
* iicp.setICP (icp);
* IncrementalRegistration<PointXYZ> iicp;
* iicp.setRegistration (icp);
*
* while (true){
* PointCloud<PointXYZ>::Ptr cloud (new PointCloud<PointXYZ>);
Expand All @@ -71,25 +71,25 @@ namespace pcl {
* \ingroup registration
*/
template <typename PointT, typename Scalar = float>
class IncrementalICP {
class IncrementalRegistration {
public:
typedef typename pcl::PointCloud<PointT>::Ptr PointCloudPtr;
typedef typename pcl::PointCloud<PointT>::ConstPtr PointCloudConstPtr;

typedef typename pcl::Registration<PointT,PointT,Scalar>::Ptr RegistrationPtr;
typedef typename pcl::Registration<PointT,PointT,Scalar>::Matrix4 Matrix4;

IncrementalICP ();
IncrementalRegistration ();

/** \brief Empty destructor */
virtual ~IncrementalICP () {}
virtual ~IncrementalRegistration () {}

/** \brief Register new point cloud incrementally
* \note You have to set a valid registration object with @ref setICP before using this
* \note You have to set a valid registration object with @ref setRegistration before using this
* \note The class doesn't copy cloud. If you afterwards change cloud, that will affect this class.
* \param[in] cloud point cloud to register
* \param[in] delta_estimate estimated transform between last registered cloud and this one
* \return true if ICP converged
* \return true if registration converged
*/
bool
registerCloud (const PointCloudConstPtr& cloud, const Matrix4& delta_estimate = Matrix4::Identity ());
Expand All @@ -102,20 +102,20 @@ namespace pcl {
inline Matrix4
getAbsoluteTransform () const;

/** \brief Reset incremental ICP without resetting icp_ */
/** \brief Reset incremental Registration without resetting registration_ */
inline void
reset ();

/** \brief Set registration instance used to align clouds */
inline void
setICP (RegistrationPtr);
setRegistration (RegistrationPtr);
protected:

/** \brief last registered point cloud */
PointCloudConstPtr last_cloud_;

/** \brief registration instance to align clouds */
RegistrationPtr icp_;
RegistrationPtr registration_;

/** \brief estimated transforms */
Matrix4 delta_transform_;
Expand All @@ -125,6 +125,6 @@ namespace pcl {
}
}

#include <pcl/registration/impl/incremental_icp.hpp>
#include <pcl/registration/impl/incremental_registration.hpp>

#endif /*PCL_REGISTRATION_INCREMENTAL_ICP_H_*/
#endif /*PCL_REGISTRATION_INCREMENTAL_REGISTRATION_H_*/
6 changes: 3 additions & 3 deletions tools/icp.cpp
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Expand Up @@ -42,7 +42,7 @@
#include <pcl/point_types.h>
#include <pcl/registration/icp.h>
#include <pcl/registration/icp_nl.h>
#include <pcl/registration/incremental_icp.h>
#include <pcl/registration/incremental_registration.h>

#include <string>
#include <iostream>
Expand Down Expand Up @@ -87,8 +87,8 @@ main (int argc, char **argv)
icp->setMaxCorrespondenceDistance (dist);
icp->setRANSACOutlierRejectionThreshold (rans);

pcl::registration::IncrementalICP<PointType> iicp;
iicp.setICP (icp);
pcl::registration::IncrementalRegistration<PointType> iicp;
iicp.setRegistration (icp);

for (size_t i = 0; i < pcd_indices.size (); i++)
{
Expand Down