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

#include <transformation_validation.h>

Public Types
typedef boost::shared_ptr < const TransformationValidation < PointSource, PointTarget, Scalar > >	ConstPtr
typedef Eigen::Matrix< Scalar, 4, 4 >	Matrix4
typedef pcl::PointCloud < PointSource >	PointCloudSource
typedef PointCloudSource::ConstPtr	PointCloudSourceConstPtr
typedef PointCloudSource::Ptr	PointCloudSourcePtr
typedef pcl::PointCloud < PointTarget >	PointCloudTarget
typedef PointCloudTarget::ConstPtr	PointCloudTargetConstPtr
typedef PointCloudTarget::Ptr	PointCloudTargetPtr
typedef boost::shared_ptr < TransformationValidation < PointSource, PointTarget, Scalar > >	Ptr
Public Member Functions
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. Pure virtual.
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. Pure 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. Pure virtual.
virtual	~TransformationValidation ()

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:

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

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 ( ) [inline, virtual]

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_src	the source point cloud dataset
[in]	cloud_tgt	the target point cloud dataset
[out]	transformation_matrix	the 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]	score1	the first value
[in]	score2	the 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_src	the source point cloud dataset
[in]	cloud_tgt	the target point cloud dataset
[out]	transformation_matrix	the 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:

transformation_validation.h

Public Types

Public Member Functions

Detailed Description

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

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

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