TransformationValidationEuclidean computes an L2SQR norm between a source and target dataset. More...

#include <transformation_validation_euclidean.h>

Public Types
typedef boost::shared_ptr < const TransformationValidation < PointSource, PointTarget > >	ConstPtr
typedef pcl::KdTree< PointTarget >	KdTree
typedef pcl::KdTree < PointTarget >::Ptr	KdTreePtr
typedef TransformationValidation < PointSource, PointTarget > ::PointCloudSourceConstPtr	PointCloudSourceConstPtr
typedef TransformationValidation < PointSource, PointTarget > ::PointCloudTargetConstPtr	PointCloudTargetConstPtr
typedef KdTree::PointRepresentationConstPtr	PointRepresentationConstPtr
typedef boost::shared_ptr < TransformationValidation < PointSource, PointTarget > >	Ptr
Public Member Functions
void	setMaxRange (double max_range)
	Set the maximum allowable distance between a point and its correspondence in the target in order for a correspondence to be considered valid. Default: double::max.
	TransformationValidationEuclidean ()
	Constructor. Sets the max_range parameter to double::max, and initializes the internal search tree to a FLANN kd-tree.
double	validateTransformation (const PointCloudSourceConstPtr &cloud_src, const PointCloudTargetConstPtr &cloud_tgt, const Eigen::Matrix4f &transformation_matrix)
	Validate the given transformation with respect to the input cloud data, and return a score.
virtual	~TransformationValidationEuclidean ()
Protected Attributes
double	max_range_
	The maximum allowable distance between a point and its correspondence in the target in order for a correspondence to be considered valid. Default: double::max.
KdTreePtr	tree_
	A pointer to the spatial search object.

Detailed Description

template<typename PointSource, typename PointTarget>
class pcl::registration::TransformationValidationEuclidean< PointSource, PointTarget >

TransformationValidationEuclidean computes an L2SQR norm between a source and target dataset.

To prevent points with bad correspondences to contribute to the overall score, the class also accepts a maximum_range parameter given via setMaxRange that is used as a cutoff value for nearest neighbor distance comparisons.

The output score is normalized with respect to the number of valid correspondences found.

Usage example:

 pcl::TransformationValidationEuclidean<pcl::PointXYZ, pcl::PointXYZ> tve;
 tve.setMaxRange (0.01);  // 1cm
 double score = tve.validateTransformation (source, target, transformation);

Author:: Radu B. Rusu

Definition at line 71 of file transformation_validation_euclidean.h.

Member Typedef Documentation

template<typename PointSource , typename PointTarget >

typedef boost::shared_ptr<const TransformationValidation<PointSource, PointTarget> > pcl::registration::TransformationValidationEuclidean< PointSource, PointTarget >::ConstPtr

Definition at line 75 of file transformation_validation_euclidean.h.

template<typename PointSource , typename PointTarget >

typedef pcl::KdTree<PointTarget> pcl::registration::TransformationValidationEuclidean< PointSource, PointTarget >::KdTree

Definition at line 77 of file transformation_validation_euclidean.h.

template<typename PointSource , typename PointTarget >

typedef pcl::KdTree<PointTarget>::Ptr pcl::registration::TransformationValidationEuclidean< PointSource, PointTarget >::KdTreePtr

Definition at line 78 of file transformation_validation_euclidean.h.

template<typename PointSource , typename PointTarget >

typedef TransformationValidation<PointSource, PointTarget>::PointCloudSourceConstPtr pcl::registration::TransformationValidationEuclidean< PointSource, PointTarget >::PointCloudSourceConstPtr

Definition at line 82 of file transformation_validation_euclidean.h.

template<typename PointSource , typename PointTarget >

typedef TransformationValidation<PointSource, PointTarget>::PointCloudTargetConstPtr pcl::registration::TransformationValidationEuclidean< PointSource, PointTarget >::PointCloudTargetConstPtr

Definition at line 83 of file transformation_validation_euclidean.h.

template<typename PointSource , typename PointTarget >

typedef KdTree::PointRepresentationConstPtr pcl::registration::TransformationValidationEuclidean< PointSource, PointTarget >::PointRepresentationConstPtr

Definition at line 80 of file transformation_validation_euclidean.h.

template<typename PointSource , typename PointTarget >

typedef boost::shared_ptr<TransformationValidation<PointSource, PointTarget> > pcl::registration::TransformationValidationEuclidean< PointSource, PointTarget >::Ptr

Definition at line 74 of file transformation_validation_euclidean.h.

Constructor & Destructor Documentation

template<typename PointSource , typename PointTarget >

pcl::registration::TransformationValidationEuclidean< PointSource, PointTarget >::TransformationValidationEuclidean ( ) [inline]

Constructor. Sets the max_range parameter to double::max, and initializes the internal search tree to a FLANN kd-tree.

Definition at line 89 of file transformation_validation_euclidean.h.

template<typename PointSource , typename PointTarget >

virtual pcl::registration::TransformationValidationEuclidean< PointSource, PointTarget >::~TransformationValidationEuclidean ( ) [inline, virtual]

Definition at line 95 of file transformation_validation_euclidean.h.

Member Function Documentation

template<typename PointSource , typename PointTarget >

void pcl::registration::TransformationValidationEuclidean< PointSource, PointTarget >::setMaxRange ( double max_range ) [inline]

Set the maximum allowable distance between a point and its correspondence in the target in order for a correspondence to be considered valid. Default: double::max.

Parameters:

[in] max_range the new maximum allowable distance

Definition at line 102 of file transformation_validation_euclidean.h.

template<typename PointSource , typename PointTarget >

double pcl::registration::TransformationValidationEuclidean< PointSource, PointTarget >::validateTransformation	(	const PointCloudSourceConstPtr &	cloud_src,
		const PointCloudTargetConstPtr &	cloud_tgt,
		const Eigen::Matrix4f &	transformation_matrix
	)

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

Parameters:

[in]	cloud_src	the source point cloud dataset
[in]	cloud_tgt	the target point cloud dataset
[out]	transformation_matrix	the resultant transformation matrix

Returns:: the score or confidence measure for the given transformation_matrix with respect to the input data

Definition at line 46 of file transformation_validation_euclidean.hpp.

Member Data Documentation

template<typename PointSource , typename PointTarget >

double pcl::registration::TransformationValidationEuclidean< PointSource, PointTarget >::max_range_ [protected]

The maximum allowable distance between a point and its correspondence in the target in order for a correspondence to be considered valid. Default: double::max.

Definition at line 126 of file transformation_validation_euclidean.h.

template<typename PointSource , typename PointTarget >

KdTreePtr pcl::registration::TransformationValidationEuclidean< PointSource, PointTarget >::tree_ [protected]

A pointer to the spatial search object.

Definition at line 129 of file transformation_validation_euclidean.h.

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

Public Types

Public Member Functions

Protected Attributes

Detailed Description

template<typename PointSource, typename PointTarget> class pcl::registration::TransformationValidationEuclidean< PointSource, PointTarget >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

template<typename PointSource, typename PointTarget>
class pcl::registration::TransformationValidationEuclidean< PointSource, PointTarget >