Point Cloud Library (PCL)  1.8.1-dev
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pcl::registration::TransformationValidation< PointSource, PointTarget, Scalar > Class Template Referenceabstract

TransformationValidation represents the base class for methods that validate the correctness of a transformation found through TransformationEstimation. More...

#include <pcl/registration/transformation_validation.h>

Public Types

typedef Eigen::Matrix< Scalar, 4, 4 > Matrix4
 
typedef boost::shared_ptr
< TransformationValidation
< PointSource, PointTarget,
Scalar > > 
Ptr
 
typedef boost::shared_ptr
< const
TransformationValidation
< PointSource, PointTarget,
Scalar > > 
ConstPtr
 
typedef pcl::PointCloud
< PointSource > 
PointCloudSource
 
typedef PointCloudSource::Ptr PointCloudSourcePtr
 
typedef PointCloudSource::ConstPtr PointCloudSourceConstPtr
 
typedef pcl::PointCloud
< PointTarget > 
PointCloudTarget
 
typedef PointCloudTarget::Ptr PointCloudTargetPtr
 
typedef PointCloudTarget::ConstPtr PointCloudTargetConstPtr
 

Public Member Functions

 TransformationValidation ()
 
virtual ~TransformationValidation ()
 
virtual double validateTransformation (const PointCloudSourceConstPtr &cloud_src, const PointCloudTargetConstPtr &cloud_tgt, const Matrix4 &transformation_matrix) const =0
 Validate the given transformation with respect to the input cloud data, and return a score. More...
 
virtual bool operator() (const double &score1, const double &score2) const =0
 Comparator function for deciding which score is better after running the validation on multiple transforms. More...
 
virtual bool isValid (const PointCloudSourceConstPtr &cloud_src, const PointCloudTargetConstPtr &cloud_tgt, const Matrix4 &transformation_matrix) const =0
 Check if the score is valid for a specific transformation. More...
 

Detailed Description

template<typename PointSource, typename PointTarget, typename Scalar = float>
class pcl::registration::TransformationValidation< PointSource, PointTarget, Scalar >

TransformationValidation represents the base class for methods that validate the correctness of a transformation found through TransformationEstimation.

The inputs for a validation estimation can take any or all of the following:

The output is in the form of a score or a confidence measure.

Note
The class is templated on the source and target point types as well as on the output scalar of the transformation matrix (i.e., float or double). Default: float.
Author
Radu B. Rusu

Definition at line 68 of file transformation_validation.h.

Member Typedef Documentation

template<typename PointSource, typename PointTarget, typename Scalar = float>
typedef boost::shared_ptr<const TransformationValidation<PointSource, PointTarget, Scalar> > pcl::registration::TransformationValidation< PointSource, PointTarget, Scalar >::ConstPtr

Definition at line 73 of file transformation_validation.h.

template<typename PointSource, typename PointTarget, typename Scalar = float>
typedef Eigen::Matrix<Scalar, 4, 4> pcl::registration::TransformationValidation< PointSource, PointTarget, Scalar >::Matrix4

Definition at line 71 of file transformation_validation.h.

template<typename PointSource, typename PointTarget, typename Scalar = float>
typedef pcl::PointCloud<PointSource> pcl::registration::TransformationValidation< PointSource, PointTarget, Scalar >::PointCloudSource

Definition at line 75 of file transformation_validation.h.

template<typename PointSource, typename PointTarget, typename Scalar = float>
typedef PointCloudSource::ConstPtr pcl::registration::TransformationValidation< PointSource, PointTarget, Scalar >::PointCloudSourceConstPtr

Definition at line 77 of file transformation_validation.h.

template<typename PointSource, typename PointTarget, typename Scalar = float>
typedef PointCloudSource::Ptr pcl::registration::TransformationValidation< PointSource, PointTarget, Scalar >::PointCloudSourcePtr

Definition at line 76 of file transformation_validation.h.

template<typename PointSource, typename PointTarget, typename Scalar = float>
typedef pcl::PointCloud<PointTarget> pcl::registration::TransformationValidation< PointSource, PointTarget, Scalar >::PointCloudTarget

Definition at line 79 of file transformation_validation.h.

template<typename PointSource, typename PointTarget, typename Scalar = float>
typedef PointCloudTarget::ConstPtr pcl::registration::TransformationValidation< PointSource, PointTarget, Scalar >::PointCloudTargetConstPtr

Definition at line 81 of file transformation_validation.h.

template<typename PointSource, typename PointTarget, typename Scalar = float>
typedef PointCloudTarget::Ptr pcl::registration::TransformationValidation< PointSource, PointTarget, Scalar >::PointCloudTargetPtr

Definition at line 80 of file transformation_validation.h.

template<typename PointSource, typename PointTarget, typename Scalar = float>
typedef boost::shared_ptr<TransformationValidation<PointSource, PointTarget, Scalar> > pcl::registration::TransformationValidation< PointSource, PointTarget, Scalar >::Ptr

Definition at line 72 of file transformation_validation.h.

Constructor & Destructor Documentation

template<typename PointSource, typename PointTarget, typename Scalar = float>
pcl::registration::TransformationValidation< PointSource, PointTarget, Scalar >::TransformationValidation ( )
inline

Definition at line 83 of file transformation_validation.h.

template<typename PointSource, typename PointTarget, typename Scalar = float>
virtual pcl::registration::TransformationValidation< PointSource, PointTarget, Scalar >::~TransformationValidation ( )
inlinevirtual

Definition at line 84 of file transformation_validation.h.

Member Function Documentation

template<typename PointSource, typename PointTarget, typename Scalar = float>
virtual bool pcl::registration::TransformationValidation< PointSource, PointTarget, Scalar >::isValid ( const PointCloudSourceConstPtr cloud_src,
const PointCloudTargetConstPtr cloud_tgt,
const Matrix4 transformation_matrix 
) const
pure virtual

Check if the score is valid for a specific transformation.

Pure virtual.

Parameters
[in]cloud_srcthe source point cloud dataset
[in]cloud_tgtthe target point cloud dataset
[out]transformation_matrixthe transformation matrix
Returns
true if the transformation is valid, false otherwise.
template<typename PointSource, typename PointTarget, typename Scalar = float>
virtual bool pcl::registration::TransformationValidation< PointSource, PointTarget, Scalar >::operator() ( const double &  score1,
const double &  score2 
) const
pure virtual

Comparator function for deciding which score is better after running the validation on multiple transforms.

Pure virtual.

Note
For example, for Euclidean distances smaller is better, for inliers the oposite.
Parameters
[in]score1the first value
[in]score2the second value
Returns
true if score1 is better than score2
template<typename PointSource, typename PointTarget, typename Scalar = float>
virtual double pcl::registration::TransformationValidation< PointSource, PointTarget, Scalar >::validateTransformation ( const PointCloudSourceConstPtr cloud_src,
const PointCloudTargetConstPtr cloud_tgt,
const Matrix4 transformation_matrix 
) const
pure virtual

Validate the given transformation with respect to the input cloud data, and return a score.

Pure virtual.

Parameters
[in]cloud_srcthe source point cloud dataset
[in]cloud_tgtthe target point cloud dataset
[out]transformation_matrixthe transformation matrix
Returns
the score or confidence measure for the given transformation_matrix with respect to the input data

The documentation for this class was generated from the following file: