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<li><a class="reference internal" href="#">PCL/registration</a><ul>
<li><a class="reference internal" href="#participants">Participants</a></li>
<li><a class="reference internal" href="#existing-frameworks">Existing Frameworks</a></li>
<li><a class="reference internal" href="#mission">Mission</a></li>
<li><a class="reference internal" href="#ideas">Ideas</a></li>
<li><a class="reference internal" href="#data-structures">Data structures</a><ul>
<li><a class="reference internal" href="#pose">Pose</a></li>
<li><a class="reference internal" href="#pointcloud">PointCloud</a></li>
<li><a class="reference internal" href="#posedpointcloud">PosedPointCloud</a></li>
<li><a class="reference internal" href="#graph">Graph</a></li>
<li><a class="reference internal" href="#covariancematrix">CovarianceMatrix</a></li>
<li><a class="reference internal" href="#measurement">Measurement</a></li>
</ul>
</li>
<li><a class="reference internal" href="#interfaces">Interfaces</a><ul>
<li><a class="reference internal" href="#globalregistration">GlobalRegistration</a></li>
<li><a class="reference internal" href="#graphoptimizer">GraphOptimizer</a></li>
<li><a class="reference internal" href="#loopdetection">LoopDetection</a></li>
<li><a class="reference internal" href="#graphhandler">GraphHandler</a></li>
</ul>
</li>
<li><a class="reference internal" href="#example-implementations">Example Implementations</a><ul>
<li><a class="reference internal" href="#pairwiseglobalregistration">PairwiseGlobalRegistration</a></li>
<li><a class="reference internal" href="#distanceloopdetection">DistanceLoopDetection</a></li>
<li><a class="reference internal" href="#elch">ELCH</a></li>
<li><a class="reference internal" href="#lum">LUM</a></li>
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<div class="section" id="pcl-registration">
<h1>PCL/registration</h1>
<div class="section" id="participants">
<h2>Participants</h2>
<ul class="simple">
<li>Michael Dixon</li>
<li>Radu Rusu</li>
<li>Nicola Fioraio</li>
<li>Jochen Sprickerhof</li>
</ul>
</div>
<div class="section" id="existing-frameworks">
<h2>Existing Frameworks</h2>
<ul class="simple">
<li>SLAM6D</li>
<li>Toro</li>
<li>Hogman</li>
<li>G2O</li>
<li>MegaSLAM/MegaICP</li>
</ul>
</div>
<div class="section" id="mission">
<h2>Mission</h2>
<p>Provide a common interface/architecture for all of these and future SLAM ideas.</p>
</div>
<div class="section" id="ideas">
<h2>Ideas</h2>
<ul class="simple">
<li>Separate algorithms from data structures.</li>
<li>strip down everything to it’s basics and define an interface.</li>
<li>modify data structure in algorithms (you can copy them before if you need to).</li>
<li>point clouds are not transformed, only the translation and rotation is updated.</li>
</ul>
</div>
<div class="section" id="data-structures">
<h2>Data structures</h2>
<div class="admonition note">
<p class="first admonition-title">Note</p>
<p class="last">These ideas are independent of actual data structures in the PCL for now. We can see later how to integrate them best.</p>
</div>
<div class="section" id="pose">
<h3>Pose</h3>
<div class="highlight-c++ notranslate"><div class="highlight"><pre><span></span><span class="k">struct</span> <span class="n">Pose</span>
<span class="p">{</span>
<span class="n">Eigen</span><span class="o">::</span><span class="n">Vector3</span> <span class="n">translation</span><span class="p">;</span>
<span class="n">Eigen</span><span class="o">::</span><span class="n">Quaternion</span> <span class="n">rotation</span><span class="p">;</span>
<span class="p">}</span>
</pre></div>
</div>
</div>
<div class="section" id="pointcloud">
<h3>PointCloud</h3>
<div class="highlight-c++ notranslate"><div class="highlight"><pre><span></span><span class="k">typedef</span> <span class="n">vector</span><span class="o">&lt;</span><span class="n">vector</span> <span class="o">&lt;</span><span class="kt">float</span><span class="o">&gt;</span> <span class="o">&gt;</span> <span class="n">Points</span><span class="p">;</span>
</pre></div>
</div>
</div>
<div class="section" id="posedpointcloud">
<h3>PosedPointCloud</h3>
<div class="highlight-c++ notranslate"><div class="highlight"><pre><span></span><span class="k">typedef</span> <span class="n">pair</span><span class="o">&lt;</span><span class="n">Pose</span><span class="o">*</span><span class="p">,</span> <span class="n">PointCloud</span><span class="o">*&gt;</span> <span class="n">PosedPointCloud</span><span class="p">;</span>
</pre></div>
</div>
<p>PointCloud* can be 0.</p>
</div>
<div class="section" id="graph">
<h3>Graph</h3>
<p>This should hold the SLAM graph. I would propose to use Boost::Graph for it, as it allows us to access a lot of algorithms.</p>
<div class="admonition note">
<p class="first admonition-title">Note</p>
<p class="last">define abstract structure.</p>
</div>
</div>
<div class="section" id="covariancematrix">
<h3>CovarianceMatrix</h3>
<div class="highlight-c++ notranslate"><div class="highlight"><pre><span></span><span class="k">typedef</span> <span class="n">Eigen</span><span class="o">::</span><span class="n">Matrix4f</span> <span class="n">CovarianceMatrix</span><span class="p">;</span>
</pre></div>
</div>
</div>
<div class="section" id="measurement">
<h3>Measurement</h3>
<div class="highlight-c++ notranslate"><div class="highlight"><pre><span></span><span class="k">struct</span> <span class="n">Measurement</span>
<span class="p">{</span>
<span class="n">Pose</span> <span class="n">pose</span><span class="p">;</span>
<span class="n">CovarianceMatrix</span> <span class="n">covariance</span><span class="p">;</span>
<span class="p">}</span>
</pre></div>
</div>
<p>Idea: change the CovarianceMatrix into a function pointer.</p>
</div>
</div>
<div class="section" id="interfaces">
<h2>Interfaces</h2>
<div class="section" id="globalregistration">
<h3>GlobalRegistration</h3>
<div class="highlight-c++ notranslate"><div class="highlight"><pre><span></span><span class="k">class</span> <span class="nc">GlobalRegistration</span>
<span class="p">{</span>
<span class="k">public</span><span class="o">:</span>
<span class="cm">/**</span>
<span class="cm"> * \param history how many poses should be cached (0 means all)</span>
<span class="cm"> */</span>
<span class="n">GlobalRegistration</span> <span class="p">(</span><span class="kt">int</span> <span class="n">history</span> <span class="o">=</span> <span class="mi">0</span><span class="p">)</span> <span class="o">:</span> <span class="n">history_</span><span class="p">(</span><span class="n">history</span><span class="p">)</span> <span class="p">{}</span>
<span class="cm">/**</span>
<span class="cm"> * \param pc a new point cloud for GlobalRegistration</span>
<span class="cm"> * \param pose the initial pose of the pc, could be 0 (unknown)</span>
<span class="cm"> */</span>
<span class="kt">void</span> <span class="n">addPointCloud</span> <span class="p">(</span><span class="n">PointCloud</span> <span class="o">&amp;</span><span class="n">pc</span><span class="p">,</span> <span class="n">Pose</span> <span class="o">&amp;</span><span class="n">pose</span> <span class="o">=</span> <span class="mi">0</span><span class="p">)</span>
<span class="p">{</span>
<span class="n">new_clouds_</span><span class="p">.</span><span class="n">push_back</span> <span class="p">(</span><span class="n">std</span><span class="o">::</span><span class="n">make_pair</span> <span class="p">(</span><span class="n">pc</span><span class="p">,</span> <span class="n">pose</span><span class="p">));</span>
<span class="p">}</span>
<span class="cm">/**</span>
<span class="cm"> * returns the current estimate of the transformation from point cloud from to point cloud to</span>
<span class="cm"> throws an exception if the transformation is unknown</span>
<span class="cm"> */</span>
<span class="n">Pose</span> <span class="n">getTF</span> <span class="p">(</span><span class="n">PointCloud</span> <span class="o">&amp;</span><span class="n">from</span><span class="p">,</span> <span class="n">PointCloud</span> <span class="o">&amp;</span><span class="n">to</span><span class="p">);</span>
<span class="cm">/**</span>
<span class="cm"> * run the optimization process</span>
<span class="cm"> * \param lod the level of detail (optional). Roughly how long it should run (TODO: better name/parametrization?)</span>
<span class="cm"> */</span>
<span class="k">virtual</span> <span class="kt">void</span> <span class="nf">compute</span> <span class="p">(</span><span class="kt">int</span> <span class="n">lod</span> <span class="o">=</span> <span class="mi">0</span><span class="p">)</span> <span class="p">{}</span>
<span class="k">private</span><span class="o">:</span>
<span class="kt">int</span> <span class="n">history_</span><span class="p">;</span>
<span class="n">map</span><span class="o">&lt;</span><span class="n">PointCloud</span><span class="o">*</span><span class="p">,</span> <span class="n">Pose</span><span class="o">*&gt;</span> <span class="n">poses_</span><span class="p">;</span>
<span class="n">PosedPointCloud</span> <span class="n">new_clouds_</span><span class="p">;</span>
<span class="p">};</span>
</pre></div>
</div>
<p>This will be the base class interface for every SLAM algorithm. At any point you can add point clouds and they will be processed.
The poses can be either in a global or in a local coordinate system (meaning that they are incremental regarding the last one).
Idea: Do we need the compute? Could it be included into the addPointCloud or getTF?</p>
</div>
<div class="section" id="graphoptimizer">
<h3>GraphOptimizer</h3>
<div class="highlight-c++ notranslate"><div class="highlight"><pre><span></span><span class="k">class</span> <span class="nc">GraphOptimizer</span>
<span class="p">{</span>
<span class="k">public</span><span class="o">:</span>
<span class="k">virtual</span> <span class="kt">void</span> <span class="n">optimize</span> <span class="p">(</span><span class="n">Graph</span> <span class="o">&amp;</span><span class="n">gr</span><span class="p">)</span> <span class="o">=</span> <span class="mi">0</span><span class="p">;</span>
<span class="p">}</span>
</pre></div>
</div>
</div>
<div class="section" id="loopdetection">
<h3>LoopDetection</h3>
<div class="highlight-c++ notranslate"><div class="highlight"><pre><span></span><span class="k">class</span> <span class="nc">LoopDetection</span>
<span class="p">{</span>
<span class="k">public</span><span class="o">:</span>
<span class="k">virtual</span> <span class="o">~</span><span class="n">LoopDetection</span> <span class="p">()</span> <span class="p">{}</span>
<span class="k">virtual</span> <span class="n">list</span><span class="o">&lt;</span><span class="n">std</span><span class="o">::</span><span class="n">pair</span><span class="o">&lt;</span><span class="n">PointCloud</span><span class="o">*</span><span class="p">,</span> <span class="n">PointCloud</span><span class="o">*&gt;</span> <span class="o">&gt;</span> <span class="n">detectLoop</span><span class="p">(</span><span class="n">list</span><span class="o">&lt;</span><span class="n">PosedPointCloud</span><span class="o">*&gt;</span> <span class="n">poses</span><span class="p">,</span> <span class="n">list</span><span class="o">&lt;</span><span class="n">PosedPointCloud</span><span class="o">*&gt;</span> <span class="n">query</span><span class="p">)</span> <span class="p">{}</span> <span class="o">=</span> <span class="mi">0</span><span class="p">;</span>
<span class="p">}</span>
</pre></div>
</div>
</div>
<div class="section" id="graphhandler">
<h3>GraphHandler</h3>
<div class="highlight-c++ notranslate"><div class="highlight"><pre><span></span><span class="k">class</span> <span class="nc">GraphHandler</span>
<span class="p">{</span>
<span class="kt">void</span> <span class="n">addPose</span> <span class="p">(</span><span class="n">Graph</span> <span class="o">&amp;</span><span class="n">gr</span><span class="p">,</span> <span class="n">PointCloud</span> <span class="o">&amp;</span><span class="n">pc</span><span class="p">);</span>
<span class="kt">void</span> <span class="nf">addConstraint</span> <span class="p">(</span><span class="n">Graph</span> <span class="o">&amp;</span><span class="n">gr</span><span class="p">,</span> <span class="n">PointCloud</span> <span class="o">&amp;</span><span class="n">from</span><span class="p">,</span> <span class="n">PointCloud</span> <span class="o">&amp;</span><span class="n">to</span><span class="p">,</span> <span class="n">Pose</span> <span class="o">&amp;</span><span class="n">pose</span><span class="p">);</span>
<span class="p">}</span>
</pre></div>
</div>
<div class="admonition note">
<p class="first admonition-title">Note</p>
<p class="last">I’m not sure about this one.</p>
</div>
</div>
</div>
<div class="section" id="example-implementations">
<h2>Example Implementations</h2>
<div class="section" id="pairwiseglobalregistration">
<h3>PairwiseGlobalRegistration</h3>
<div class="highlight-c++ notranslate"><div class="highlight"><pre><span></span><span class="k">class</span> <span class="nc">PairwiseGlobalRegistration</span> <span class="o">:</span> <span class="k">public</span> <span class="n">GlobalRegistration</span>
<span class="p">{</span>
<span class="k">public</span><span class="o">:</span>
<span class="n">PairwiseGlobalRegistration</span><span class="p">(</span><span class="n">Registration</span> <span class="o">&amp;</span><span class="n">reg</span><span class="p">)</span> <span class="o">:</span> <span class="n">reg_</span><span class="p">(</span><span class="n">reg</span><span class="p">)</span> <span class="p">{}</span>
<span class="k">virtual</span> <span class="kt">void</span> <span class="n">compute</span> <span class="p">(</span><span class="kt">int</span> <span class="n">lod</span> <span class="o">=</span> <span class="mi">0</span><span class="p">)</span> <span class="p">{}</span>
<span class="p">{</span>
<span class="n">list</span><span class="o">&lt;</span><span class="n">PosedPointCloud</span> <span class="o">&gt;::</span><span class="n">iterator</span> <span class="n">cloud_it</span><span class="p">;</span>
<span class="k">for</span> <span class="p">(</span><span class="n">cloud_it</span> <span class="o">=</span> <span class="n">new_clouds_</span><span class="p">.</span><span class="n">begin</span><span class="p">();</span> <span class="n">cloud_it</span> <span class="o">!=</span> <span class="n">new_clouds_</span><span class="p">.</span><span class="n">end</span><span class="p">();</span> <span class="n">cloud_it</span><span class="o">++</span><span class="p">)</span>
<span class="p">{</span>
<span class="k">if</span><span class="p">(</span><span class="o">!</span><span class="n">old_</span><span class="p">)</span> <span class="p">{</span>
<span class="n">old</span> <span class="o">=</span> <span class="o">*</span><span class="n">cloud_it</span><span class="p">;</span>
<span class="k">continue</span><span class="p">;</span>
<span class="p">}</span>
<span class="n">reg_</span><span class="p">.</span><span class="n">align</span><span class="p">(</span><span class="n">old_</span><span class="p">,</span> <span class="o">*</span><span class="n">cloud_it</span><span class="p">,</span> <span class="n">transformation</span><span class="p">);</span>
<span class="n">poses</span><span class="p">[</span><span class="o">*</span><span class="n">cloud_it</span><span class="p">]</span> <span class="o">=</span> <span class="n">transformation</span><span class="p">;</span>
<span class="n">old_</span> <span class="o">=</span> <span class="o">*</span><span class="n">cloud_it</span><span class="p">;</span>
<span class="p">}</span>
<span class="n">new_clouds_</span><span class="p">.</span><span class="n">clear</span><span class="p">();</span>
<span class="p">}</span>
<span class="k">private</span><span class="o">:</span>
<span class="n">Registration</span> <span class="o">&amp;</span><span class="n">reg_</span><span class="p">;</span>
<span class="n">PointCloud</span> <span class="o">&amp;</span><span class="n">old_</span><span class="p">;</span>
<span class="p">}</span>
</pre></div>
</div>
</div>
<div class="section" id="distanceloopdetection">
<h3>DistanceLoopDetection</h3>
<div class="highlight-c++ notranslate"><div class="highlight"><pre><span></span><span class="k">class</span> <span class="nc">DistanceLoopDetection</span> <span class="o">:</span> <span class="n">LoopDetection</span>
<span class="p">{</span>
<span class="k">public</span><span class="o">:</span>
<span class="k">virtual</span> <span class="n">list</span><span class="o">&lt;</span><span class="n">std</span><span class="o">::</span><span class="n">pair</span><span class="o">&lt;</span><span class="n">PointCloud</span><span class="o">*</span><span class="p">,</span> <span class="n">PointCloud</span><span class="o">*&gt;</span> <span class="o">&gt;</span> <span class="n">detectLoop</span><span class="p">(</span><span class="n">list</span><span class="o">&lt;</span><span class="n">PosedPointCloud</span><span class="o">*&gt;</span> <span class="n">poses</span><span class="p">,</span> <span class="n">list</span><span class="o">&lt;</span><span class="n">PosedPointCloud</span><span class="o">*&gt;</span> <span class="n">query</span><span class="p">)</span>
<span class="p">{</span>
<span class="c1">//I want a map reduce here ;)</span>
<span class="n">list</span><span class="o">&lt;</span><span class="n">PosedPointCloud</span> <span class="o">&gt;::</span><span class="n">iterator</span> <span class="n">poses_it</span><span class="p">;</span>
<span class="k">for</span> <span class="p">(</span><span class="n">poses_it</span> <span class="o">=</span> <span class="n">poses</span><span class="p">.</span><span class="n">begin</span><span class="p">();</span> <span class="n">poses_it</span> <span class="o">!=</span> <span class="n">poses</span><span class="p">.</span><span class="n">end</span><span class="p">();</span> <span class="n">poses_it</span><span class="o">++</span><span class="p">)</span>
<span class="p">{</span>
<span class="n">list</span><span class="o">&lt;</span><span class="n">PosedPointCloud</span> <span class="o">&gt;::</span><span class="n">iterator</span> <span class="n">query_it</span><span class="p">;</span>
<span class="k">for</span> <span class="p">(</span><span class="n">query_it</span> <span class="o">=</span> <span class="n">query</span><span class="p">.</span><span class="n">begin</span><span class="p">();</span> <span class="n">query_it</span> <span class="o">!=</span> <span class="n">query</span><span class="p">.</span><span class="n">end</span><span class="p">();</span> <span class="n">query_it</span><span class="o">++</span><span class="p">)</span>
<span class="p">{</span>
<span class="k">if</span> <span class="p">(</span><span class="n">dist</span> <span class="p">(</span><span class="o">*</span><span class="n">poses_it</span><span class="p">,</span> <span class="o">*</span><span class="n">query_it</span><span class="p">)</span> <span class="o">&lt;</span> <span class="n">min_dist_</span><span class="p">)</span>
<span class="p">{</span>
<span class="c1">//..</span>
<span class="p">}</span>
<span class="p">}</span>
<span class="p">}</span>
<span class="p">}</span>
</pre></div>
</div>
</div>
<div class="section" id="elch">
<h3>ELCH</h3>
<div class="highlight-c++ notranslate"><div class="highlight"><pre><span></span><span class="k">class</span> <span class="nc">ELCH</span> <span class="o">:</span> <span class="k">public</span> <span class="n">GlobalRegistration</span>
<span class="p">{</span>
<span class="k">public</span><span class="o">:</span>
<span class="n">ELCH</span><span class="p">(</span><span class="n">GlobalRegistration</span> <span class="o">&amp;</span><span class="n">initial_optimizer</span> <span class="o">=</span> <span class="n">PairwiseGlobalRegistration</span><span class="p">(),</span> <span class="n">LoopDetection</span> <span class="o">&amp;</span><span class="n">loop_detection</span><span class="p">,</span> <span class="n">GraphOptimizer</span> <span class="o">&amp;</span><span class="n">loop_optimizer</span><span class="p">,</span> <span class="n">GraphOptimizer</span> <span class="o">&amp;</span><span class="n">graph_optimizer</span> <span class="o">=</span> <span class="n">LUM</span><span class="p">())</span>
<span class="p">}</span>
</pre></div>
</div>
</div>
<div class="section" id="lum">
<h3>LUM</h3>
<div class="highlight-c++ notranslate"><div class="highlight"><pre><span></span><span class="k">class</span> <span class="nc">ELCH</span> <span class="o">:</span> <span class="k">public</span> <span class="n">GlobalRegistration</span>
<span class="p">{</span>
<span class="k">public</span><span class="o">:</span>
<span class="n">ELCH</span><span class="p">(</span><span class="n">GlobalRegistration</span> <span class="o">&amp;</span><span class="n">initial_optimizer</span> <span class="o">=</span> <span class="n">PairwiseGlobalRegistration</span><span class="p">(),</span> <span class="n">LoopDetection</span> <span class="o">&amp;</span><span class="n">loop_detection</span><span class="p">,</span> <span class="n">GraphOptimizer</span> <span class="o">&amp;</span><span class="n">loop_optimizer</span><span class="p">,</span> <span class="n">GraphOptimizer</span> <span class="o">&amp;</span><span class="n">graph_optimizer</span><span class="p">)</span>
<span class="p">}</span>
</pre></div>
</div>
<p>Lu and Milios style scan matching (as in SLAM6D)</p>
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