Point Cloud Library (PCL)  1.9.1-dev
transformation_validation.h
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40 
41 #pragma once
42 
43 #include <pcl/correspondence.h>
44 #include <pcl/features/feature.h>
45 #include <pcl/common/transforms.h>
46 #include <pcl/registration/correspondence_types.h>
47 
48 namespace pcl
49 {
50  namespace registration
51  {
52  /** \brief TransformationValidation represents the base class for methods
53  * that validate the correctness of a transformation found through \ref TransformationEstimation.
54  *
55  * The inputs for a validation estimation can take any or all of the following:
56  *
57  * - source point cloud
58  * - target point cloud
59  * - estimated transformation between source and target
60  *
61  * The output is in the form of a score or a confidence measure.
62  *
63  * \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.
64  * \author Radu B. Rusu
65  * \ingroup registration
66  */
67  template <typename PointSource, typename PointTarget, typename Scalar = float>
69  {
70  public:
71  using Matrix4 = Eigen::Matrix<Scalar, 4, 4>;
72  using Ptr = boost::shared_ptr<TransformationValidation<PointSource, PointTarget, Scalar> >;
73  using ConstPtr = boost::shared_ptr<const TransformationValidation<PointSource, PointTarget, Scalar> >;
74 
78 
82 
85 
86  /** \brief Validate the given transformation with respect to the input cloud data, and return a score. Pure virtual.
87  *
88  * \param[in] cloud_src the source point cloud dataset
89  * \param[in] cloud_tgt the target point cloud dataset
90  * \param[out] transformation_matrix the transformation matrix
91  *
92  * \return the score or confidence measure for the given
93  * transformation_matrix with respect to the input data
94  */
95  virtual double
97  const PointCloudSourceConstPtr &cloud_src,
98  const PointCloudTargetConstPtr &cloud_tgt,
99  const Matrix4 &transformation_matrix) const = 0;
100 
101  /** \brief Comparator function for deciding which score is better after running the
102  * validation on multiple transforms. Pure virtual.
103  *
104  * \note For example, for Euclidean distances smaller is better, for inliers the opposite.
105  *
106  * \param[in] score1 the first value
107  * \param[in] score2 the second value
108  *
109  * \return true if score1 is better than score2
110  */
111  virtual bool
112  operator() (const double &score1, const double &score2) const = 0;
113 
114  /** \brief Check if the score is valid for a specific transformation. Pure virtual.
115  *
116  * \param[in] cloud_src the source point cloud dataset
117  * \param[in] cloud_tgt the target point cloud dataset
118  * \param[out] transformation_matrix the transformation matrix
119  *
120  * \return true if the transformation is valid, false otherwise.
121  */
122  virtual bool
123  isValid (
124  const PointCloudSourceConstPtr &cloud_src,
125  const PointCloudTargetConstPtr &cloud_tgt,
126  const Matrix4 &transformation_matrix) const = 0;
127  };
128  }
129 }
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.
boost::shared_ptr< const TransformationValidation< PointSource, PointTarget, Scalar > > ConstPtr
This file defines compatibility wrappers for low level I/O functions.
Definition: convolution.h:45
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...
typename PointCloudTarget::ConstPtr PointCloudTargetConstPtr
boost::shared_ptr< TransformationValidation< PointSource, PointTarget, Scalar > > Ptr
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 trans...
boost::shared_ptr< PointCloud< PointSource > > Ptr
Definition: point_cloud.h:411
typename PointCloudSource::ConstPtr PointCloudSourceConstPtr
TransformationValidation represents the base class for methods that validate the correctness of a tra...
boost::shared_ptr< const PointCloud< PointSource > > ConstPtr
Definition: point_cloud.h:412