registration.h

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#ifndef PCL_REGISTRATION_H_
#define PCL_REGISTRATION_H_

// PCL includes
#include <pcl/pcl_base.h>
#include <pcl/common/transforms.h>
#include <pcl/pcl_macros.h>
#include <pcl/search/kdtree.h>
#include <pcl/kdtree/kdtree_flann.h>
#include <pcl/registration/boost.h>
#include <pcl/registration/transformation_estimation.h>
#include <pcl/registration/correspondence_estimation.h>
#include <pcl/registration/correspondence_rejection.h>

namespace pcl
{
  template <typename PointSource, typename PointTarget, typename Scalar = float>
  class Registration : public PCLBase<PointSource>
  {
    public:
      typedef Eigen::Matrix<Scalar, 4, 4> Matrix4;

      // using PCLBase<PointSource>::initCompute;
      using PCLBase<PointSource>::deinitCompute;
      using PCLBase<PointSource>::input_;
      using PCLBase<PointSource>::indices_;

      typedef boost::shared_ptr< Registration<PointSource, PointTarget, Scalar> > Ptr;
      typedef boost::shared_ptr< const Registration<PointSource, PointTarget, Scalar> > ConstPtr;

      typedef typename pcl::registration::CorrespondenceRejector::Ptr CorrespondenceRejectorPtr;
      typedef pcl::search::KdTree<PointTarget> KdTree;
      typedef typename pcl::search::KdTree<PointTarget>::Ptr KdTreePtr;

      typedef pcl::search::KdTree<PointSource> KdTreeReciprocal;
      typedef typename KdTree::Ptr KdTreeReciprocalPtr;
     
      typedef pcl::PointCloud<PointSource> PointCloudSource;
      typedef typename PointCloudSource::Ptr PointCloudSourcePtr;
      typedef typename PointCloudSource::ConstPtr PointCloudSourceConstPtr;

      typedef pcl::PointCloud<PointTarget> PointCloudTarget;
      typedef typename PointCloudTarget::Ptr PointCloudTargetPtr;
      typedef typename PointCloudTarget::ConstPtr PointCloudTargetConstPtr;

      typedef typename KdTree::PointRepresentationConstPtr PointRepresentationConstPtr;
      
      typedef typename pcl::registration::TransformationEstimation<PointSource, PointTarget, Scalar> TransformationEstimation;
      typedef typename TransformationEstimation::Ptr TransformationEstimationPtr;
      typedef typename TransformationEstimation::ConstPtr TransformationEstimationConstPtr;

      typedef typename pcl::registration::CorrespondenceEstimationBase<PointSource, PointTarget, Scalar> CorrespondenceEstimation;
      typedef typename CorrespondenceEstimation::Ptr CorrespondenceEstimationPtr;
      typedef typename CorrespondenceEstimation::ConstPtr CorrespondenceEstimationConstPtr;

      Registration () 
        : reg_name_ ()
        , tree_ (new KdTree)
        , tree_reciprocal_ (new KdTreeReciprocal)
        , nr_iterations_ (0)
        , max_iterations_ (10)
        , ransac_iterations_ (0)
        , target_ ()
        , final_transformation_ (Matrix4::Identity ())
        , transformation_ (Matrix4::Identity ())
        , previous_transformation_ (Matrix4::Identity ())
        , transformation_epsilon_ (0.0)
        , euclidean_fitness_epsilon_ (-std::numeric_limits<double>::max ())
        , corr_dist_threshold_ (std::sqrt (std::numeric_limits<double>::max ()))
        , inlier_threshold_ (0.05)
        , converged_ (false)
        , min_number_correspondences_ (3)
        , correspondences_ (new Correspondences)
        , transformation_estimation_ ()
        , correspondence_estimation_ ()
        , correspondence_rejectors_ ()
        , target_cloud_updated_ (true)
        , source_cloud_updated_ (true)
        , force_no_recompute_ (false)
        , force_no_recompute_reciprocal_ (false)
        , update_visualizer_ (NULL)
        , point_representation_ ()
      {
      }

      virtual ~Registration () {}

      void
      setTransformationEstimation (const TransformationEstimationPtr &te) { transformation_estimation_ = te; }

      void
      setCorrespondenceEstimation (const CorrespondenceEstimationPtr &ce) { correspondence_estimation_ = ce; }

      PCL_DEPRECATED (void setInputCloud (const PointCloudSourceConstPtr &cloud), "[pcl::registration::Registration::setInputCloud] setInputCloud is deprecated. Please use setInputSource instead.");

      PCL_DEPRECATED (PointCloudSourceConstPtr const getInputCloud (), "[pcl::registration::Registration::getInputCloud] getInputCloud is deprecated. Please use getInputSource instead.");

      virtual void
      setInputSource (const PointCloudSourceConstPtr &cloud)
      {
        source_cloud_updated_ = true;
        PCLBase<PointSource>::setInputCloud (cloud);
      }

      inline PointCloudSourceConstPtr const
      getInputSource () { return (input_ ); }

      virtual inline void 
      setInputTarget (const PointCloudTargetConstPtr &cloud); 

      inline PointCloudTargetConstPtr const 
      getInputTarget () { return (target_ ); }


      inline void
      setSearchMethodTarget (const KdTreePtr &tree, 
                             bool force_no_recompute = false) 
      { 
        tree_ = tree; 
        if (force_no_recompute)
        {
          force_no_recompute_ = true;
        }
        // Since we just set a new tree, we need to check for updates
        target_cloud_updated_ = true;
      }

      inline KdTreePtr
      getSearchMethodTarget () const
      {
        return (tree_);
      }

      inline void
      setSearchMethodSource (const KdTreeReciprocalPtr &tree, 
                             bool force_no_recompute = false) 
      { 
        tree_reciprocal_ = tree; 
        if ( force_no_recompute )
        {
          force_no_recompute_reciprocal_ = true;
        }
        // Since we just set a new tree, we need to check for updates
        source_cloud_updated_ = true;
      }

      inline KdTreeReciprocalPtr
      getSearchMethodSource () const
      {
        return (tree_reciprocal_);
      }

      inline Matrix4
      getFinalTransformation () { return (final_transformation_); }

      inline Matrix4
      getLastIncrementalTransformation () { return (transformation_); }

      inline void 
      setMaximumIterations (int nr_iterations) { max_iterations_ = nr_iterations; }

      inline int 
      getMaximumIterations () { return (max_iterations_); }

      inline void 
      setRANSACIterations (int ransac_iterations) { ransac_iterations_ = ransac_iterations; }

      inline double 
      getRANSACIterations () { return (ransac_iterations_); }

      inline void 
      setRANSACOutlierRejectionThreshold (double inlier_threshold) { inlier_threshold_ = inlier_threshold; }

      inline double 
      getRANSACOutlierRejectionThreshold () { return (inlier_threshold_); }

      inline void 
      setMaxCorrespondenceDistance (double distance_threshold) { corr_dist_threshold_ = distance_threshold; }

      inline double 
      getMaxCorrespondenceDistance () { return (corr_dist_threshold_); }

      inline void 
      setTransformationEpsilon (double epsilon) { transformation_epsilon_ = epsilon; }

      inline double 
      getTransformationEpsilon () { return (transformation_epsilon_); }

      inline void 
      setEuclideanFitnessEpsilon (double epsilon) { euclidean_fitness_epsilon_ = epsilon; }

      inline double 
      getEuclideanFitnessEpsilon () { return (euclidean_fitness_epsilon_); }

      inline void
      setPointRepresentation (const PointRepresentationConstPtr &point_representation)
      {
        point_representation_ = point_representation;
      }

      template<typename FunctionSignature> inline bool
      registerVisualizationCallback (boost::function<FunctionSignature> &visualizerCallback)
      {
        if (visualizerCallback != NULL)
        {
          update_visualizer_ = visualizerCallback;
          return (true);
        }
        else
          return (false);
      }

      inline double 
      getFitnessScore (double max_range = std::numeric_limits<double>::max ());

      inline double 
      getFitnessScore (const std::vector<float> &distances_a, const std::vector<float> &distances_b);

      inline bool 
      hasConverged () { return (converged_); }

      inline void
      align (PointCloudSource &output);

      inline void 
      align (PointCloudSource &output, const Matrix4& guess);

      inline const std::string&
      getClassName () const { return (reg_name_); }
        
      bool
      initCompute ();

      bool
      initComputeReciprocal ();

      inline void
      addCorrespondenceRejector (const CorrespondenceRejectorPtr &rejector)
      {
        correspondence_rejectors_.push_back (rejector);
      }

      inline std::vector<CorrespondenceRejectorPtr>
      getCorrespondenceRejectors ()
      {
        return (correspondence_rejectors_);
      }

      inline bool
      removeCorrespondenceRejector (unsigned int i)
      {
        if (i >= correspondence_rejectors_.size ())
          return (false);
        correspondence_rejectors_.erase (correspondence_rejectors_.begin () + i);
        return (true);
      }

      inline void
      clearCorrespondenceRejectors ()
      {
        correspondence_rejectors_.clear ();
      }

    protected:
      std::string reg_name_;

      KdTreePtr tree_;
      
      KdTreeReciprocalPtr tree_reciprocal_;

      int nr_iterations_;

      int max_iterations_;

      int ransac_iterations_;

      PointCloudTargetConstPtr target_;

      Matrix4 final_transformation_;

      Matrix4 transformation_;

      Matrix4 previous_transformation_;

      double transformation_epsilon_;

      double euclidean_fitness_epsilon_;

      double corr_dist_threshold_;

      double inlier_threshold_;

      bool converged_;

      int min_number_correspondences_;

      CorrespondencesPtr correspondences_;

      TransformationEstimationPtr transformation_estimation_;

      CorrespondenceEstimationPtr correspondence_estimation_;

      std::vector<CorrespondenceRejectorPtr> correspondence_rejectors_;

      bool target_cloud_updated_;
      bool source_cloud_updated_;
      bool force_no_recompute_;
      
      bool force_no_recompute_reciprocal_;

      boost::function<void(const pcl::PointCloud<PointSource> &cloud_src,
                           const std::vector<int> &indices_src,
                           const pcl::PointCloud<PointTarget> &cloud_tgt,
                           const std::vector<int> &indices_tgt)> update_visualizer_;

      inline bool
      searchForNeighbors (const PointCloudSource &cloud, int index, 
                          std::vector<int> &indices, std::vector<float> &distances)
      {
        int k = tree_->nearestKSearch (cloud, index, 1, indices, distances);
        if (k == 0)
          return (false);
        return (true);
      }

      virtual void 
      computeTransformation (PointCloudSource &output, const Matrix4& guess) = 0;

    private:
      PointRepresentationConstPtr point_representation_;
    public:
      EIGEN_MAKE_ALIGNED_OPERATOR_NEW
   };
}

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

#endif  //#ifndef PCL_REGISTRATION_H_