Point Cloud Library (PCL)  1.12.1-dev
graph_registration.h
1 /*
2  * Software License Agreement (BSD License)
3  *
4  * Point Cloud Library (PCL) - www.pointclouds.org
5  * Copyright (c) 2011, Willow Garage, Inc.
6  * Copyright (c) 2012-, Open Perception, Inc.
7  *
8  * All rights reserved.
9  *
10  * Redistribution and use in source and binary forms, with or without
11  * modification, are permitted provided that the following conditions
12  * are met:
13  *
14  * * Redistributions of source code must retain the above copyright
15  * notice, this list of conditions and the following disclaimer.
16  * * Redistributions in binary form must reproduce the above
17  * copyright notice, this list of conditions and the following
18  * disclaimer in the documentation and/or other materials provided
19  * with the distribution.
20  * * Neither the name of the copyright holder(s) nor the names of its
21  * contributors may be used to endorse or promote products derived
22  * from this software without specific prior written permission.
23  *
24  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
25  * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
26  * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
27  * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
28  * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
29  * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
30  * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
31  * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
32  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
33  * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
34  * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
35  * POSSIBILITY OF SUCH DAMAGE.
36  *
37  * $Id$
38  *
39  */
40 
41 #pragma once
42 
43 #include <pcl/registration/graph_handler.h>
44 #include <pcl/point_cloud.h>
45 
46 namespace pcl {
47 /** \brief @b GraphRegistration class is the base class for graph-based registration
48  * methods \author Nicola Fioraio \ingroup registration
49  */
50 template <typename GraphT>
52 public:
58 
59  /** \brief Empty constructor */
62  , last_aligned_vertex_(boost::graph_traits<GraphT>::null_vertex())
63  , last_vertices_()
64  {}
65 
66  /** \brief Empty destructor */
67  virtual ~GraphRegistration() {}
68 
69  /** \brief Add a point cloud and the associated camera pose to the graph */
70  template <typename PointT>
71  inline void
73  const Eigen::Matrix4f& pose)
74  {
75  last_vertices_.push_back(graph_handler_->addPointCloud(cloud, pose));
76  }
77 
78  /** \brief Set the graph handler */
79  inline void
81  {
82  graph_handler_ = gh;
83  }
84 
85  /** \brief Get a pointer to the graph handler */
86  inline GraphHandlerPtr
88  {
89  return graph_handler_;
90  }
91 
92  /** \brief Get a pointer to the graph handler */
95  {
96  return graph_handler_;
97  }
98 
99  /** \brief Check if new poses have been added, then call the registration
100  * method which is implemented by the subclasses
101  */
102  inline void
104  {
105  if (last_vertices_.empty())
106  return;
107  computeRegistration();
109  last_vertices_.clear();
110  }
111 
112 protected:
113  /** \brief The graph handler */
115  /** \brief The last estimated pose */
117  /** \brief The vertices added to the graph since the last call to compute */
118  std::vector<GraphHandlerVertex> last_vertices_;
119 
120 private:
121  /** \brief The registration method */
122  virtual void
123  computeRegistration() = 0;
124 };
125 } // namespace pcl
GraphRegistration class is the base class for graph-based registration methods
std::vector< GraphHandlerVertex > last_vertices_
The vertices added to the graph since the last call to compute.
void setGraphHandler(GraphHandlerPtr &gh)
Set the graph handler.
typename pcl::registration::GraphHandler< GraphT >::Vertex GraphHandlerVertex
GraphRegistration()
Empty constructor.
GraphHandlerVertex last_aligned_vertex_
The last estimated pose.
GraphHandlerPtr graph_handler_
The graph handler.
void compute()
Check if new poses have been added, then call the registration method which is implemented by the sub...
typename pcl::registration::GraphHandler< GraphT >::ConstPtr GraphHandlerConstPtr
typename pcl::registration::GraphHandler< GraphT >::Ptr GraphHandlerPtr
virtual ~GraphRegistration()
Empty destructor.
GraphHandlerPtr getGraphHandler()
Get a pointer to the graph handler.
void addPointCloud(const typename pcl::PointCloud< PointT >::ConstPtr &cloud, const Eigen::Matrix4f &pose)
Add a point cloud and the associated camera pose to the graph.
GraphHandlerConstPtr getGraphHandler() const
Get a pointer to the graph handler.
shared_ptr< const PointCloud< PointT > > ConstPtr
Definition: point_cloud.h:414
GraphHandler class is a wrapper for a general SLAM graph The actual graph class must fulfill the foll...
Definition: graph_handler.h:85
shared_ptr< const GraphHandler< GraphT > > ConstPtr
Definition: graph_handler.h:88
shared_ptr< GraphHandler< GraphT > > Ptr
Definition: graph_handler.h:87
typename boost::graph_traits< GraphT >::vertex_descriptor Vertex
Definition: graph_handler.h:92