254 lines
7.5 KiB
C++
254 lines
7.5 KiB
C++
/*
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* Software License Agreement (BSD License)
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*
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* Point Cloud Library (PCL) - www.pointclouds.org
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* Copyright (c) 2011, Willow Garage, Inc.
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* Copyright (c) 2012-, Open Perception, Inc.
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*
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of the copyright holder(s) nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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* $Id$
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*
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*/
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#pragma once
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#include <pcl/registration/boost_graph.h>
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#include <pcl/registration/icp.h>
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#include <pcl/registration/registration.h>
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#include <pcl/memory.h>
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#include <pcl/pcl_base.h>
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#include <pcl/pcl_macros.h>
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#include <pcl/point_cloud.h>
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#include <pcl/point_types.h>
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namespace pcl {
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namespace registration {
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/** \brief @b ELCH (Explicit Loop Closing Heuristic) class
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* \author Jochen Sprickerhof
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* \ingroup registration
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*/
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template <typename PointT>
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class ELCH : public PCLBase<PointT> {
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public:
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using Ptr = shared_ptr<ELCH<PointT>>;
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using ConstPtr = shared_ptr<const ELCH<PointT>>;
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using PointCloud = pcl::PointCloud<PointT>;
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using PointCloudPtr = typename PointCloud::Ptr;
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using PointCloudConstPtr = typename PointCloud::ConstPtr;
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struct Vertex {
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Vertex() : cloud() {}
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PointCloudPtr cloud;
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Eigen::Affine3f transform;
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};
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/** \brief graph structure to hold the SLAM graph */
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using LoopGraph = boost::adjacency_list<boost::listS,
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boost::eigen_vecS,
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boost::undirectedS,
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Vertex,
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boost::no_property>;
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using LoopGraphPtr = shared_ptr<LoopGraph>;
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using Registration = pcl::Registration<PointT, PointT>;
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using RegistrationPtr = typename Registration::Ptr;
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using RegistrationConstPtr = typename Registration::ConstPtr;
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/** \brief Empty constructor. */
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ELCH()
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: loop_graph_(new LoopGraph)
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, loop_start_(0)
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, loop_end_(0)
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, reg_(new pcl::IterativeClosestPoint<PointT, PointT>)
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, compute_loop_(true)
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, vd_(){};
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/** \brief Empty destructor */
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~ELCH() {}
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/** \brief Add a new point cloud to the internal graph.
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* \param[in] cloud the new point cloud
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*/
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inline void
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addPointCloud(PointCloudPtr cloud)
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{
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typename boost::graph_traits<LoopGraph>::vertex_descriptor vd =
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add_vertex(*loop_graph_);
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(*loop_graph_)[vd].cloud = cloud;
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if (num_vertices(*loop_graph_) > 1)
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add_edge(vd_, vd, *loop_graph_);
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vd_ = vd;
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}
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/** \brief Getter for the internal graph. */
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inline LoopGraphPtr
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getLoopGraph()
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{
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return (loop_graph_);
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}
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/** \brief Setter for a new internal graph.
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* \param[in] loop_graph the new graph
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*/
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inline void
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setLoopGraph(LoopGraphPtr loop_graph)
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{
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loop_graph_ = loop_graph;
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}
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/** \brief Getter for the first scan of a loop. */
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inline typename boost::graph_traits<LoopGraph>::vertex_descriptor
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getLoopStart()
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{
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return (loop_start_);
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}
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/** \brief Setter for the first scan of a loop.
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* \param[in] loop_start the scan that starts the loop
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*/
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inline void
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setLoopStart(
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const typename boost::graph_traits<LoopGraph>::vertex_descriptor& loop_start)
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{
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loop_start_ = loop_start;
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}
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/** \brief Getter for the last scan of a loop. */
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inline typename boost::graph_traits<LoopGraph>::vertex_descriptor
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getLoopEnd()
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{
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return (loop_end_);
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}
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/** \brief Setter for the last scan of a loop.
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* \param[in] loop_end the scan that ends the loop
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*/
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inline void
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setLoopEnd(const typename boost::graph_traits<LoopGraph>::vertex_descriptor& loop_end)
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{
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loop_end_ = loop_end;
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}
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/** \brief Getter for the registration algorithm. */
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inline RegistrationPtr
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getReg()
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{
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return (reg_);
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}
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/** \brief Setter for the registration algorithm.
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* \param[in] reg the registration algorithm used to compute the transformation
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* between the start and the end of the loop
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*/
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inline void
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setReg(RegistrationPtr reg)
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{
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reg_ = reg;
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}
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/** \brief Getter for the transformation between the first and the last scan. */
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inline Eigen::Matrix4f
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getLoopTransform()
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{
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return (loop_transform_);
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}
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/** \brief Setter for the transformation between the first and the last scan.
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* \param[in] loop_transform the transformation between the first and the last scan
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*/
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inline void
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setLoopTransform(const Eigen::Matrix4f& loop_transform)
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{
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loop_transform_ = loop_transform;
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compute_loop_ = false;
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}
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/** \brief Computes new poses for all point clouds by closing the loop
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* between start and end point cloud. This will transform all given point
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* clouds for now!
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*/
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void
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compute();
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protected:
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using PCLBase<PointT>::deinitCompute;
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/** \brief This method should get called before starting the actual computation. */
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virtual bool
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initCompute();
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private:
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/** \brief graph structure for the internal optimization graph */
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using LOAGraph = boost::adjacency_list<boost::listS,
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boost::vecS,
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boost::undirectedS,
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boost::no_property,
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boost::property<boost::edge_weight_t, double>>;
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/**
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* graph balancer algorithm computes the weights
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* @param[in] g the graph
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* @param[in] f index of the first node
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* @param[in] l index of the last node
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* @param[out] weights array for the weights
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*/
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void
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loopOptimizerAlgorithm(LOAGraph& g, double* weights);
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/** \brief The internal loop graph. */
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LoopGraphPtr loop_graph_;
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/** \brief The first scan of the loop. */
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typename boost::graph_traits<LoopGraph>::vertex_descriptor loop_start_;
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/** \brief The last scan of the loop. */
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typename boost::graph_traits<LoopGraph>::vertex_descriptor loop_end_;
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/** \brief The registration object used to close the loop. */
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RegistrationPtr reg_;
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/** \brief The transformation between that start and end of the loop. */
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Eigen::Matrix4f loop_transform_;
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bool compute_loop_;
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/** \brief previously added node in the loop_graph_. */
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typename boost::graph_traits<LoopGraph>::vertex_descriptor vd_;
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public:
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PCL_MAKE_ALIGNED_OPERATOR_NEW
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};
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} // namespace registration
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} // namespace pcl
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#include <pcl/registration/impl/elch.hpp>
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