elch.h

Go to the documentation of this file.

/*
 * Software License Agreement (BSD License)
 *
 *  Point Cloud Library (PCL) - www.pointclouds.org
 *  Copyright (c) 2011, Willow Garage, Inc.
 *  Copyright (c) 2012-, Open Perception, Inc.
 *
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of the copyright holder(s) nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 *
 * $Id$
 *
 */

#ifndef PCL_ELCH_H_
#define PCL_ELCH_H_

#include <pcl/pcl_base.h>
#include <pcl/point_types.h>
#include <pcl/point_cloud.h>
#include <pcl/registration/registration.h>
#include <pcl/registration/boost.h>
#include <pcl/registration/eigen.h>
#include <pcl/registration/icp.h>
#include <pcl/registration/boost_graph.h>

namespace pcl
{
  namespace registration
  {
    template <typename PointT>
    class ELCH : public PCLBase<PointT>
    {
      public:
        typedef boost::shared_ptr< ELCH<PointT> > Ptr;
        typedef boost::shared_ptr< const ELCH<PointT> > ConstPtr;

        typedef pcl::PointCloud<PointT> PointCloud;
        typedef typename PointCloud::Ptr PointCloudPtr;
        typedef typename PointCloud::ConstPtr PointCloudConstPtr;

        struct Vertex
        {
          Vertex () : cloud () {}
          PointCloudPtr cloud;
        };

        typedef boost::adjacency_list<
          boost::listS, boost::eigen_vecS, boost::undirectedS,
          Vertex,
          boost::no_property>
        LoopGraph;

        typedef boost::shared_ptr< LoopGraph > LoopGraphPtr;

        typedef typename pcl::Registration<PointT, PointT> Registration;
        typedef typename Registration::Ptr RegistrationPtr;
        typedef typename Registration::ConstPtr RegistrationConstPtr;

        ELCH () : 
          loop_graph_ (new LoopGraph), 
          loop_start_ (0), 
          loop_end_ (0), 
          reg_ (new pcl::IterativeClosestPoint<PointT, PointT>), 
          loop_transform_ (),
          compute_loop_ (true),
          vd_ ()
        {};
      
        virtual ~ELCH () {}

        inline void
        addPointCloud (PointCloudPtr cloud)
        {
          typename boost::graph_traits<LoopGraph>::vertex_descriptor vd = add_vertex (*loop_graph_);
          (*loop_graph_)[vd].cloud = cloud;
          if (num_vertices (*loop_graph_) > 1)
            add_edge (vd_, vd, *loop_graph_);
          vd_ = vd;
        }

        inline LoopGraphPtr
        getLoopGraph ()
        {
          return (loop_graph_);
        }

        inline void
        setLoopGraph (LoopGraphPtr loop_graph)
        {
          loop_graph_ = loop_graph;
        }

        inline typename boost::graph_traits<LoopGraph>::vertex_descriptor
        getLoopStart ()
        {
          return (loop_start_);
        }

        inline void
        setLoopStart (const typename boost::graph_traits<LoopGraph>::vertex_descriptor &loop_start)
        {
          loop_start_ = loop_start;
        }

        inline typename boost::graph_traits<LoopGraph>::vertex_descriptor
        getLoopEnd ()
        {
          return (loop_end_);
        }

        inline void
        setLoopEnd (const typename boost::graph_traits<LoopGraph>::vertex_descriptor &loop_end)
        {
          loop_end_ = loop_end;
        }

        inline RegistrationPtr
        getReg ()
        {
          return (reg_);
        }

        inline void
        setReg (RegistrationPtr reg)
        {
          reg_ = reg;
        }

        inline Eigen::Matrix4f
        getLoopTransform ()
        {
          return (loop_transform_);
        }

        inline void
        setLoopTransform (const Eigen::Matrix4f &loop_transform)
        {
          loop_transform_ = loop_transform;
          compute_loop_ = false;
        }

        void
        compute ();

      protected:
        using PCLBase<PointT>::deinitCompute;

        virtual bool
        initCompute ();

      private:
        typedef boost::adjacency_list<
          boost::listS, boost::vecS, boost::undirectedS,
          boost::no_property,
          boost::property< boost::edge_weight_t, double > >
        LOAGraph;

        void
        loopOptimizerAlgorithm (LOAGraph &g, double *weights);

        LoopGraphPtr loop_graph_;

        typename boost::graph_traits<LoopGraph>::vertex_descriptor loop_start_;

        typename boost::graph_traits<LoopGraph>::vertex_descriptor loop_end_;

        RegistrationPtr reg_;

        Eigen::Matrix4f loop_transform_;
        bool compute_loop_;

        typename boost::graph_traits<LoopGraph>::vertex_descriptor vd_;

      public:
        EIGEN_MAKE_ALIGNED_OPERATOR_NEW
    };
  }
}

#include <pcl/registration/impl/elch.hpp>

#endif // PCL_ELCH_H_