Point Cloud Library (PCL)
1.7.1
Main Page
Modules
Namespaces
Classes
registration
include
pcl
registration
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
#ifndef PCL_GRAPH_REGISTRATION_H_
42
#define PCL_GRAPH_REGISTRATION_H_
43
44
#include <pcl/point_cloud.h>
45
#include <pcl/registration/graph_handler.h>
46
47
namespace
pcl
48
{
49
/** \brief @b GraphRegistration class is the base class for graph-based registration methods
50
* \author Nicola Fioraio
51
* \ingroup registration
52
*/
53
template
<
typename
GraphT>
54
class
GraphRegistration
55
{
56
public
:
57
typedef
pcl::registration::GraphHandler<GraphT>
GraphHandler
;
58
typedef
typename
pcl::registration::GraphHandler<GraphT>::Ptr
GraphHandlerPtr
;
59
typedef
typename
pcl::registration::GraphHandler<GraphT>::ConstPtr
GraphHandlerConstPtr
;
60
typedef
typename
pcl::registration::GraphHandler<GraphT>::Vertex
GraphHandlerVertex
;
61
62
/** \brief Empty constructor */
63
GraphRegistration
() :
graph_handler_
(new
GraphHandler
),
64
last_aligned_vertex_
(boost::graph_traits<GraphT>::null_vertex ()),
65
last_vertices_
()
66
{}
67
68
/** \brief Empty destructor */
69
virtual
~GraphRegistration
() {}
70
71
/** \brief Add a point cloud and the associated camera pose to the graph */
72
template
<
typename
Po
int
T>
inline
void
73
addPointCloud
(
const
typename
pcl::PointCloud<PointT>::ConstPtr
& cloud,
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
80
setGraphHandler
(
GraphHandlerPtr
& gh)
81
{
82
graph_handler_
= gh;
83
}
84
85
/** \brief Get a pointer to the graph handler */
86
inline
GraphHandlerPtr
87
getGraphHandler
()
88
{
89
return
graph_handler_
;
90
}
91
92
/** \brief Get a pointer to the graph handler */
93
inline
GraphHandlerConstPtr
94
getGraphHandler
()
const
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
103
compute
()
104
{
105
if
(
last_vertices_
.empty ())
106
return
;
107
computeRegistration ();
108
last_aligned_vertex_
=
last_vertices_
.back ();
109
last_vertices_
.clear ();
110
}
111
112
protected
:
113
/** \brief The graph handler */
114
GraphHandlerPtr
graph_handler_
;
115
/** \brief The last estimated pose */
116
GraphHandlerVertex
last_aligned_vertex_
;
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
}
126
127
#endif // PCL_GRAPH_REGISTRATION_H_