Point Cloud Library (PCL)  1.12.1-dev
elch.h
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40 
41 #pragma once
42 
43 #include <pcl/registration/boost_graph.h>
44 #include <pcl/registration/icp.h>
45 #include <pcl/registration/registration.h>
46 #include <pcl/memory.h>
47 #include <pcl/pcl_base.h>
48 #include <pcl/pcl_macros.h>
49 #include <pcl/point_cloud.h>
50 #include <pcl/point_types.h>
51 
52 namespace pcl {
53 namespace registration {
54 /** \brief @b ELCH (Explicit Loop Closing Heuristic) class
55  * \author Jochen Sprickerhof
56  * \ingroup registration
57  */
58 template <typename PointT>
59 class ELCH : public PCLBase<PointT> {
60 public:
61  using Ptr = shared_ptr<ELCH<PointT>>;
62  using ConstPtr = shared_ptr<const ELCH<PointT>>;
63 
65  using PointCloudPtr = typename PointCloud::Ptr;
67 
68  struct Vertex {
69  Vertex() : cloud() {}
71  Eigen::Affine3f transform;
72  };
73 
74  /** \brief graph structure to hold the SLAM graph */
75  using LoopGraph = boost::adjacency_list<boost::listS,
77  boost::undirectedS,
78  Vertex,
79  boost::no_property>;
80 
81  using LoopGraphPtr = shared_ptr<LoopGraph>;
82 
86 
87  /** \brief Empty constructor. */
88  ELCH()
89  : loop_graph_(new LoopGraph)
90  , loop_start_(0)
91  , loop_end_(0)
92  , reg_(new pcl::IterativeClosestPoint<PointT, PointT>)
93  , compute_loop_(true)
94  , vd_(){};
95 
96  /** \brief Empty destructor */
97  ~ELCH() override = default;
98 
99  /** \brief Add a new point cloud to the internal graph.
100  * \param[in] cloud the new point cloud
101  */
102  inline void
104  {
105  typename boost::graph_traits<LoopGraph>::vertex_descriptor vd =
106  add_vertex(*loop_graph_);
107  (*loop_graph_)[vd].cloud = cloud;
108  if (num_vertices(*loop_graph_) > 1)
109  add_edge(vd_, vd, *loop_graph_);
110  vd_ = vd;
111  }
112 
113  /** \brief Getter for the internal graph. */
114  inline LoopGraphPtr
116  {
117  return (loop_graph_);
118  }
119 
120  /** \brief Setter for a new internal graph.
121  * \param[in] loop_graph the new graph
122  */
123  inline void
125  {
126  loop_graph_ = loop_graph;
127  }
128 
129  /** \brief Getter for the first scan of a loop. */
130  inline typename boost::graph_traits<LoopGraph>::vertex_descriptor
132  {
133  return (loop_start_);
134  }
135 
136  /** \brief Setter for the first scan of a loop.
137  * \param[in] loop_start the scan that starts the loop
138  */
139  inline void
141  const typename boost::graph_traits<LoopGraph>::vertex_descriptor& loop_start)
142  {
143  loop_start_ = loop_start;
144  }
145 
146  /** \brief Getter for the last scan of a loop. */
147  inline typename boost::graph_traits<LoopGraph>::vertex_descriptor
149  {
150  return (loop_end_);
151  }
152 
153  /** \brief Setter for the last scan of a loop.
154  * \param[in] loop_end the scan that ends the loop
155  */
156  inline void
157  setLoopEnd(const typename boost::graph_traits<LoopGraph>::vertex_descriptor& loop_end)
158  {
159  loop_end_ = loop_end;
160  }
161 
162  /** \brief Getter for the registration algorithm. */
163  inline RegistrationPtr
165  {
166  return (reg_);
167  }
168 
169  /** \brief Setter for the registration algorithm.
170  * \param[in] reg the registration algorithm used to compute the transformation
171  * between the start and the end of the loop
172  */
173  inline void
175  {
176  reg_ = reg;
177  }
178 
179  /** \brief Getter for the transformation between the first and the last scan. */
180  inline Eigen::Matrix4f
182  {
183  return (loop_transform_);
184  }
185 
186  /** \brief Setter for the transformation between the first and the last scan.
187  * \param[in] loop_transform the transformation between the first and the last scan
188  */
189  inline void
190  setLoopTransform(const Eigen::Matrix4f& loop_transform)
191  {
192  loop_transform_ = loop_transform;
193  compute_loop_ = false;
194  }
195 
196  /** \brief Computes new poses for all point clouds by closing the loop
197  * between start and end point cloud. This will transform all given point
198  * clouds for now!
199  */
200  void
201  compute();
202 
203 protected:
205 
206  /** \brief This method should get called before starting the actual computation. */
207  virtual bool
208  initCompute();
209 
210 private:
211  /** \brief graph structure for the internal optimization graph */
212  using LOAGraph = boost::adjacency_list<boost::listS,
213  boost::vecS,
214  boost::undirectedS,
215  boost::no_property,
216  boost::property<boost::edge_weight_t, double>>;
217 
218  /**
219  * graph balancer algorithm computes the weights
220  * @param[in] g the graph
221  * @param[in] f index of the first node
222  * @param[in] l index of the last node
223  * @param[out] weights array for the weights
224  */
225  void
226  loopOptimizerAlgorithm(LOAGraph& g, double* weights);
227 
228  /** \brief The internal loop graph. */
229  LoopGraphPtr loop_graph_;
230 
231  /** \brief The first scan of the loop. */
232  typename boost::graph_traits<LoopGraph>::vertex_descriptor loop_start_;
233 
234  /** \brief The last scan of the loop. */
235  typename boost::graph_traits<LoopGraph>::vertex_descriptor loop_end_;
236 
237  /** \brief The registration object used to close the loop. */
238  RegistrationPtr reg_;
239 
240  /** \brief The transformation between that start and end of the loop. */
241  Eigen::Matrix4f loop_transform_;
242  bool compute_loop_;
243 
244  /** \brief previously added node in the loop_graph_. */
245  typename boost::graph_traits<LoopGraph>::vertex_descriptor vd_;
246 
247 public:
249 };
250 } // namespace registration
251 } // namespace pcl
252 
253 #include <pcl/registration/impl/elch.hpp>
IterativeClosestPoint provides a base implementation of the Iterative Closest Point algorithm.
Definition: icp.h:97
PCL base class.
Definition: pcl_base.h:70
typename PointCloud::Ptr PointCloudPtr
Definition: pcl_base.h:73
typename PointCloud::ConstPtr PointCloudConstPtr
Definition: pcl_base.h:74
PointCloud represents the base class in PCL for storing collections of 3D points.
Definition: point_cloud.h:173
shared_ptr< PointCloud< PointT > > Ptr
Definition: point_cloud.h:413
shared_ptr< const PointCloud< PointT > > ConstPtr
Definition: point_cloud.h:414
shared_ptr< const Registration< PointT, PointT, float > > ConstPtr
Definition: registration.h:67
shared_ptr< Registration< PointT, PointT, float > > Ptr
Definition: registration.h:66
ELCH (Explicit Loop Closing Heuristic) class
Definition: elch.h:59
boost::adjacency_list< boost::listS, boost::eigen_vecS, boost::undirectedS, Vertex, boost::no_property > LoopGraph
graph structure to hold the SLAM graph
Definition: elch.h:79
typename Registration::ConstPtr RegistrationConstPtr
Definition: elch.h:85
shared_ptr< ELCH< PointT > > Ptr
Definition: elch.h:61
boost::graph_traits< LoopGraph >::vertex_descriptor getLoopStart()
Getter for the first scan of a loop.
Definition: elch.h:131
void setLoopTransform(const Eigen::Matrix4f &loop_transform)
Setter for the transformation between the first and the last scan.
Definition: elch.h:190
shared_ptr< const ELCH< PointT > > ConstPtr
Definition: elch.h:62
boost::graph_traits< LoopGraph >::vertex_descriptor getLoopEnd()
Getter for the last scan of a loop.
Definition: elch.h:148
Eigen::Matrix4f getLoopTransform()
Getter for the transformation between the first and the last scan.
Definition: elch.h:181
void setLoopEnd(const typename boost::graph_traits< LoopGraph >::vertex_descriptor &loop_end)
Setter for the last scan of a loop.
Definition: elch.h:157
void addPointCloud(PointCloudPtr cloud)
Add a new point cloud to the internal graph.
Definition: elch.h:103
void setLoopGraph(LoopGraphPtr loop_graph)
Setter for a new internal graph.
Definition: elch.h:124
void setLoopStart(const typename boost::graph_traits< LoopGraph >::vertex_descriptor &loop_start)
Setter for the first scan of a loop.
Definition: elch.h:140
shared_ptr< LoopGraph > LoopGraphPtr
Definition: elch.h:81
void setReg(RegistrationPtr reg)
Setter for the registration algorithm.
Definition: elch.h:174
typename Registration::Ptr RegistrationPtr
Definition: elch.h:84
~ELCH() override=default
Empty destructor.
ELCH()
Empty constructor.
Definition: elch.h:88
RegistrationPtr getReg()
Getter for the registration algorithm.
Definition: elch.h:164
LoopGraphPtr getLoopGraph()
Getter for the internal graph.
Definition: elch.h:115
virtual bool initCompute()
This method should get called before starting the actual computation.
Definition: elch.hpp:154
void compute()
Computes new poses for all point clouds by closing the loop between start and end point cloud.
Definition: elch.hpp:216
Defines all the PCL implemented PointT point type structures.
#define PCL_MAKE_ALIGNED_OPERATOR_NEW
Macro to signal a class requires a custom allocator.
Definition: memory.h:63
Defines functions, macros and traits for allocating and using memory.
Defines all the PCL and non-PCL macros used.
A point structure representing Euclidean xyz coordinates, and the RGB color.
Eigen::Affine3f transform
Definition: elch.h:71