transformation_validation.h
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#ifndef PCL_REGISTRATION_TRANSFORMATION_VALIDATION_H_
#define PCL_REGISTRATION_TRANSFORMATION_VALIDATION_H_
#include <pcl/correspondence.h>
#include <pcl/features/feature.h>
#include <pcl/common/transforms.h>
#include <pcl/registration/correspondence_types.h>
namespace pcl
{
namespace registration
{
/** \brief TransformationValidation represents the base class for methods
* that validate the correctness of a transformation found through \ref TransformationEstimation.
*
* The inputs for a validation estimation can take any or all of the following:
*
* - source point cloud
* - target point cloud
* - estimated transformation between source and target
*
* 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
* \ingroup registration
*/
template <typename PointSource, typename PointTarget, typename Scalar = float>
class TransformationValidation
{
public:
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 typename PointCloudSource::Ptr PointCloudSourcePtr;
typedef typename PointCloudSource::ConstPtr PointCloudSourceConstPtr;
typedef pcl::PointCloud<PointTarget> PointCloudTarget;
typedef typename PointCloudTarget::Ptr PointCloudTargetPtr;
typedef typename PointCloudTarget::ConstPtr PointCloudTargetConstPtr;
TransformationValidation () {};
virtual ~TransformationValidation () {};
/** \brief Validate the given transformation with respect to the input cloud data, and return a score. Pure virtual.
*
* \param[in] cloud_src the source point cloud dataset
* \param[in] cloud_tgt the target point cloud dataset
* \param[out] transformation_matrix the transformation matrix
*
* \return the score or confidence measure for the given
* transformation_matrix with respect to the input data
*/
virtual double
validateTransformation (
const PointCloudSourceConstPtr &cloud_src,
const PointCloudTargetConstPtr &cloud_tgt,
const Matrix4 &transformation_matrix) const = 0;
/** \brief 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.
*
* \param[in] score1 the first value
* \param[in] score2 the second value
*
* \return true if score1 is better than score2
*/
virtual bool
operator() (const double &score1, const double &score2) const = 0;
/** \brief Check if the score is valid for a specific transformation. Pure virtual.
*
* \param[in] cloud_src the source point cloud dataset
* \param[in] cloud_tgt the target point cloud dataset
* \param[out] transformation_matrix the transformation matrix
*
* \return true if the transformation is valid, false otherwise.
*/
virtual bool
isValid (
const PointCloudSourceConstPtr &cloud_src,
const PointCloudTargetConstPtr &cloud_tgt,
const Matrix4 &transformation_matrix) const = 0;
};
}
}
#endif // PCL_REGISTRATION_TRANSFORMATION_VALIDATION_H_
pcl::registration::TransformationValidation::isValid
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.
pcl
Definition: convolution.h:45
pcl::registration::TransformationValidation::validateTransformation
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...
pcl::registration::TransformationValidation::ConstPtr
boost::shared_ptr< const TransformationValidation< PointSource, PointTarget, Scalar > > ConstPtr
Definition: transformation_validation.h:73
pcl::registration::TransformationValidation::PointCloudSource
pcl::PointCloud< PointSource > PointCloudSource
Definition: transformation_validation.h:75
pcl::registration::TransformationValidation::PointCloudSourcePtr
PointCloudSource::Ptr PointCloudSourcePtr
Definition: transformation_validation.h:76
pcl::registration::TransformationValidation::PointCloudTargetConstPtr
PointCloudTarget::ConstPtr PointCloudTargetConstPtr
Definition: transformation_validation.h:81
pcl::registration::TransformationValidation::operator()
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...
pcl::PointCloud< PointSource >::Ptr
boost::shared_ptr< PointCloud< PointSource > > Ptr
Definition: point_cloud.h:428
pcl::registration::TransformationValidation::PointCloudTarget
pcl::PointCloud< PointTarget > PointCloudTarget
Definition: transformation_validation.h:79
pcl::registration::TransformationValidation::Matrix4
Eigen::Matrix< Scalar, 4, 4 > Matrix4
Definition: transformation_validation.h:71
pcl::PointCloud< PointSource >::ConstPtr
boost::shared_ptr< const PointCloud< PointSource > > ConstPtr
Definition: point_cloud.h:429
pcl::PointCloud< PointSource >
pcl::registration::TransformationValidation::PointCloudTargetPtr
PointCloudTarget::Ptr PointCloudTargetPtr
Definition: transformation_validation.h:80
pcl::registration::TransformationValidation::~TransformationValidation
virtual ~TransformationValidation()
Definition: transformation_validation.h:84
pcl::registration::TransformationValidation
TransformationValidation represents the base class for methods that validate the correctness of a tra...
Definition: transformation_validation.h:68
pcl::registration::TransformationValidation::PointCloudSourceConstPtr
PointCloudSource::ConstPtr PointCloudSourceConstPtr
Definition: transformation_validation.h:77
pcl::registration::TransformationValidation::TransformationValidation
TransformationValidation()
Definition: transformation_validation.h:83
pcl::registration::TransformationValidation::Ptr
boost::shared_ptr< TransformationValidation< PointSource, PointTarget, Scalar > > Ptr
Definition: transformation_validation.h:72