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#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
{
/** \brief @b ELCH (Explicit Loop Closing Heuristic) class
* \author Jochen Sprickerhof
* \ingroup 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;
Eigen::Affine3f transform;
};
/** \brief graph structure to hold the SLAM graph */
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;
/** \brief Empty constructor. */
ELCH () :
loop_graph_ (new LoopGraph),
loop_start_ (0),
loop_end_ (0),
reg_ (new pcl::IterativeClosestPoint<PointT, PointT>),
loop_transform_ (),
compute_loop_ (true),
vd_ ()
{};
/** \brief Empty destructor */
virtual ~ELCH () {}
/** \brief Add a new point cloud to the internal graph.
* \param[in] cloud the new point cloud
*/
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;
}
/** \brief Getter for the internal graph. */
inline LoopGraphPtr
getLoopGraph ()
{
return (loop_graph_);
}
/** \brief Setter for a new internal graph.
* \param[in] loop_graph the new graph
*/
inline void
setLoopGraph (LoopGraphPtr loop_graph)
{
loop_graph_ = loop_graph;
}
/** \brief Getter for the first scan of a loop. */
inline typename boost::graph_traits<LoopGraph>::vertex_descriptor
getLoopStart ()
{
return (loop_start_);
}
/** \brief Setter for the first scan of a loop.
* \param[in] loop_start the scan that starts the loop
*/
inline void
setLoopStart (const typename boost::graph_traits<LoopGraph>::vertex_descriptor &loop_start)
{
loop_start_ = loop_start;
}
/** \brief Getter for the last scan of a loop. */
inline typename boost::graph_traits<LoopGraph>::vertex_descriptor
getLoopEnd ()
{
return (loop_end_);
}
/** \brief Setter for the last scan of a loop.
* \param[in] loop_end the scan that ends the loop
*/
inline void
setLoopEnd (const typename boost::graph_traits<LoopGraph>::vertex_descriptor &loop_end)
{
loop_end_ = loop_end;
}
/** \brief Getter for the registration algorithm. */
inline RegistrationPtr
getReg ()
{
return (reg_);
}
/** \brief Setter for the registration algorithm.
* \param[in] reg the registration algorithm used to compute the transformation between the start and the end of the loop
*/
inline void
setReg (RegistrationPtr reg)
{
reg_ = reg;
}
/** \brief Getter for the transformation between the first and the last scan. */
inline Eigen::Matrix4f
getLoopTransform ()
{
return (loop_transform_);
}
/** \brief Setter for the transformation between the first and the last scan.
* \param[in] loop_transform the transformation between the first and the last scan
*/
inline void
setLoopTransform (const Eigen::Matrix4f &loop_transform)
{
loop_transform_ = loop_transform;
compute_loop_ = false;
}
/** \brief Computes new poses for all point clouds by closing the loop
* between start and end point cloud. This will transform all given point
* clouds for now!
*/
void
compute ();
protected:
using PCLBase<PointT>::deinitCompute;
/** \brief This method should get called before starting the actual computation. */
virtual bool
initCompute ();
private:
/** \brief graph structure for the internal optimization graph */
typedef boost::adjacency_list<
boost::listS, boost::vecS, boost::undirectedS,
boost::no_property,
boost::property< boost::edge_weight_t, double > >
LOAGraph;
/**
* graph balancer algorithm computes the weights
* @param[in] g the graph
* @param[in] f index of the first node
* @param[in] l index of the last node
* @param[out] weights array for the weights
*/
void
loopOptimizerAlgorithm (LOAGraph &g, double *weights);
/** \brief The internal loop graph. */
LoopGraphPtr loop_graph_;
/** \brief The first scan of the loop. */
typename boost::graph_traits<LoopGraph>::vertex_descriptor loop_start_;
/** \brief The last scan of the loop. */
typename boost::graph_traits<LoopGraph>::vertex_descriptor loop_end_;
/** \brief The registration object used to close the loop. */
RegistrationPtr reg_;
/** \brief The transformation between that start and end of the loop. */
Eigen::Matrix4f loop_transform_;
bool compute_loop_;
/** \brief previously added node in the loop_graph_. */
typename boost::graph_traits<LoopGraph>::vertex_descriptor vd_;
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
}
}
#include <pcl/registration/impl/elch.hpp>
#endif // PCL_ELCH_H_