graph_registration.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_GRAPH_REGISTRATION_H_
#define PCL_GRAPH_REGISTRATION_H_

#include <pcl/point_cloud.h>
#include <pcl/registration/graph_handler.h>

namespace pcl
{
  template <typename GraphT>
  class GraphRegistration
  {
    public:
      typedef pcl::registration::GraphHandler<GraphT> GraphHandler;
      typedef typename pcl::registration::GraphHandler<GraphT>::Ptr GraphHandlerPtr;
      typedef typename pcl::registration::GraphHandler<GraphT>::ConstPtr GraphHandlerConstPtr;
      typedef typename pcl::registration::GraphHandler<GraphT>::Vertex GraphHandlerVertex;

      GraphRegistration ()  : graph_handler_ (new GraphHandler),
                              last_aligned_vertex_ (boost::graph_traits<GraphT>::null_vertex ()),
                              last_vertices_ ()
      {}
      
      virtual ~GraphRegistration () {}

      template <typename PointT> inline void
      addPointCloud (const typename pcl::PointCloud<PointT>::ConstPtr& cloud, const Eigen::Matrix4f& pose)
      {
        last_vertices_.push_back (graph_handler_->addPointCloud (cloud, pose));
      }

      inline void
      setGraphHandler (GraphHandlerPtr& gh)
      {
        graph_handler_ = gh;
      }

      inline GraphHandlerPtr
      getGraphHandler ()
      {
        return graph_handler_;
      }

      inline GraphHandlerConstPtr
      getGraphHandler () const
      {
        return graph_handler_;
      }

      inline void
      compute ()
      {
        if (last_vertices_.empty ())
          return;
        computeRegistration ();
        last_aligned_vertex_ = last_vertices_.back ();
        last_vertices_.clear ();
      }

    protected:
      GraphHandlerPtr graph_handler_;
      GraphHandlerVertex last_aligned_vertex_;
      std::vector<GraphHandlerVertex> last_vertices_;

    private:
      virtual void
      computeRegistration () = 0;
  };
}

#endif // PCL_GRAPH_REGISTRATION_H_