general_registration.h

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#pragma once

#include <ros/console.h>
#include <opencv2/core/core.hpp>
#include <pcl/common/common.h>
#include <pcl/point_types.h>
#include <pcl/point_cloud.h>

namespace cob_3d_registration {

template <typename Point>
class GeneralRegistration
{
public:
  GeneralRegistration():transformation_(Eigen::Matrix4f::Identity()),moved_(true),scene_changed_(false)
  {}

  virtual ~GeneralRegistration() {}

  virtual void setOdometry (const Eigen::Matrix4f &odometry) {
    transformation_ = odometry;
  }

  virtual void setInputCloud (const boost::shared_ptr<const pcl::PointCloud<Point> > &cloud) {//(const pcl::PointCloud<Point>::ConstPtr &cloud) {
    input_ = cloud;
  }

  //TODO: change this mispelled word
  virtual void setInputOginalCloud (const boost::shared_ptr<const pcl::PointCloud<Point> > &cloud) {//(const pcl::PointCloud<Point>::ConstPtr &cloud) {
    input_org_ = cloud;
  }

  virtual void setInputImage (const boost::shared_ptr<const cv::Mat> &img) {
    input_image_ = img;
  }

  virtual void setInputDepthImage (const boost::shared_ptr<const cv::Mat> &img) {
    input_depth_image_ = img;
  }

  virtual boost::shared_ptr<const pcl::PointCloud<Point> > getMarkers() {return boost::shared_ptr<const pcl::PointCloud<Point> >();}

  virtual bool compute() {
    if(!compute_features())
      return false;
    if(!compute_corrospondences())
      return false;
    if(!compute_transformation())
      return false;
    return true;
  }

  virtual Eigen::Matrix4f getTransformation() const {return transformation_;}
  virtual void setTransformation(const Eigen::Matrix4f &mat) {transformation_=mat;}
  virtual void setMoved(const bool b) {moved_=b;}
  virtual bool getSceneChanged() const {return scene_changed_;}

  virtual boost::shared_ptr<pcl::PointCloud<Point> > getMap() {ROS_ERROR("should never happ"); return boost::shared_ptr<pcl::PointCloud<Point> >(new pcl::PointCloud<Point>);}

protected:

  virtual bool compute_features()=0;
  virtual bool compute_corrospondences()=0;
  virtual bool compute_transformation()=0;

  boost::shared_ptr<const pcl::PointCloud<Point> > input_, input_org_;
  boost::shared_ptr<const cv::Mat> input_image_, input_depth_image_;
  Eigen::Matrix4f transformation_;
  bool moved_, scene_changed_;

};

}