elch.h

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 *  Point Cloud Library (PCL) - www.pointclouds.org
 *  Copyright (c) 2011, Willow Garage, Inc.
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 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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 * $Id: elch.h 5026 2012-03-12 02:51:44Z rusu $
 *
 */

#ifndef PCL_ELCH_H_
#define PCL_ELCH_H_

#include <boost/graph/adjacency_list.hpp>
#include <boost/graph/graph_traits.hpp>
#include <boost/shared_ptr.hpp>

#include <Eigen/Geometry>

#include <pcl/pcl_base.h>
#include <pcl/point_types.h>
#include <pcl/point_cloud.h>
#include <pcl/registration/registration.h>
#include <pcl/registration/icp.h>

namespace pcl
{
  namespace 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;
        };

        typedef boost::adjacency_list<
          boost::listS, boost::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;

        ELCH () : 
          loop_graph_ (new LoopGraph), 
          loop_start_ (0), 
          loop_end_ (0), 
          reg_ (new pcl::IterativeClosestPoint<PointT, PointT>), 
          loop_transform_ (),
          compute_loop_ (true),
          vd_ ()
        {};

        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;
        }

        inline LoopGraphPtr
        getLoopGraph ()
        {
          return (loop_graph_);
        }

        inline void
        setLoopGraph (LoopGraphPtr loop_graph)
        {
          loop_graph_ = loop_graph;
        }

        inline typename boost::graph_traits<LoopGraph>::vertex_descriptor
        getLoopStart ()
        {
          return (loop_start_);
        }

        inline void
        setLoopStart (const typename boost::graph_traits<LoopGraph>::vertex_descriptor &loop_start)
        {
          loop_start_ = loop_start;
        }

        inline typename boost::graph_traits<LoopGraph>::vertex_descriptor
        getLoopEnd ()
        {
          return (loop_end_);
        }

        inline void
        setLoopEnd (const typename boost::graph_traits<LoopGraph>::vertex_descriptor &loop_end)
        {
          loop_end_ = loop_end;
        }

        inline RegistrationPtr
        getReg ()
        {
          return (reg_);
        }

        inline void
        setReg (RegistrationPtr reg)
        {
          reg_ = reg;
        }

        inline Eigen::Matrix4f
        getLoopTransform ()
        {
          return (loop_transform_);
        }

        inline void
        setLoopTransform (const Eigen::Matrix4f &loop_transform)
        {
          loop_transform_ = loop_transform;
          compute_loop_ = false;
        }

        void
        compute ();

      protected:
        using PCLBase<PointT>::deinitCompute;

        virtual bool
        initCompute ();

      private:
        typedef boost::adjacency_list<
          boost::listS, boost::vecS, boost::undirectedS,
          boost::no_property,
          boost::property< boost::edge_weight_t, double > >
        LOAGraph;

        void
        loopOptimizerAlgorithm (LOAGraph &g, double *weights);

        LoopGraphPtr loop_graph_;

        typename boost::graph_traits<LoopGraph>::vertex_descriptor loop_start_;

        typename boost::graph_traits<LoopGraph>::vertex_descriptor loop_end_;

        RegistrationPtr reg_;

        Eigen::Matrix4f loop_transform_;
        bool compute_loop_;

        typename boost::graph_traits<LoopGraph>::vertex_descriptor vd_;

      public:
        EIGEN_MAKE_ALIGNED_OPERATOR_NEW
    };
  }
}

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

#endif // PCL_ELCH_H_