lum.h

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 * $Id: lum.h 5663 2012-05-02 13:49:39Z florentinus $
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#ifndef PCL_REGISTRATION_LUM_H_
#define PCL_REGISTRATION_LUM_H_

#include <pcl/pcl_base.h>
#include <pcl/registration/eigen.h>
#include <pcl/registration/boost.h>
#include <pcl/common/transforms.h>
#include <pcl/correspondence.h>
#include <pcl/registration/boost_graph.h>

namespace Eigen
{
  typedef Eigen::Matrix<float, 6, 1> Vector6f;
  typedef Eigen::Matrix<float, 6, 6> Matrix6f;
}

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

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

        struct VertexProperties
        {
          PointCloudPtr cloud_;
          Eigen::Vector6f pose_;
          EIGEN_MAKE_ALIGNED_OPERATOR_NEW
        };
        struct EdgeProperties
        {
          pcl::CorrespondencesPtr corrs_;
          Eigen::Matrix6f cinv_;
          Eigen::Vector6f cinvd_;
          EIGEN_MAKE_ALIGNED_OPERATOR_NEW
        };

        typedef boost::adjacency_list<boost::eigen_vecS, boost::eigen_vecS, boost::bidirectionalS, VertexProperties, EdgeProperties, boost::no_property, boost::eigen_listS> SLAMGraph;
        typedef boost::shared_ptr<SLAMGraph> SLAMGraphPtr;
        typedef typename SLAMGraph::vertex_descriptor Vertex;
        typedef typename SLAMGraph::edge_descriptor Edge;

        LUM () 
          : slam_graph_ (new SLAMGraph)
          , max_iterations_ (5)
          , convergence_threshold_ (0.0)
        {
        }

        inline void
        setLoopGraph (const SLAMGraphPtr &slam_graph);

        inline SLAMGraphPtr
        getLoopGraph () const;

        typename SLAMGraph::vertices_size_type
        getNumVertices () const;

        void
        setMaxIterations (int max_iterations);

        inline int
        getMaxIterations () const;

        void
        setConvergenceThreshold (float convergence_threshold);

        inline float
        getConvergenceThreshold () const;

        Vertex
        addPointCloud (const PointCloudPtr &cloud, const Eigen::Vector6f &pose = Eigen::Vector6f::Zero ());

        inline void
        setPointCloud (const Vertex &vertex, const PointCloudPtr &cloud);

        inline PointCloudPtr
        getPointCloud (const Vertex &vertex) const;

        inline void
        setPose (const Vertex &vertex, const Eigen::Vector6f &pose);

        inline Eigen::Vector6f
        getPose (const Vertex &vertex) const;

        inline Eigen::Affine3f
        getTransformation (const Vertex &vertex) const;

        void
        setCorrespondences (const Vertex &source_vertex, 
                            const Vertex &target_vertex, 
                            const pcl::CorrespondencesPtr &corrs);

        inline pcl::CorrespondencesPtr
        getCorrespondences (const Vertex &source_vertex, const Vertex &target_vertex) const;

        void
        compute ();

        PointCloudPtr
        getTransformedCloud (const Vertex &vertex) const;

        PointCloudPtr
        getConcatenatedCloud () const;

      protected:
        void
        computeEdge (const Edge &e);

        inline Eigen::Matrix6f
        incidenceCorrection (const Eigen::Vector6f &pose);

      private:
        SLAMGraphPtr slam_graph_;

        int max_iterations_;

        float convergence_threshold_;
    };
  }
}

#ifdef PCL_NO_PRECOMPILE
#include <pcl/registration/impl/lum.hpp>
#endif

#endif  // PCL_REGISTRATION_LUM_H_