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

#include <transformation_validation_euclidean.h>

Classes
class	MyPointRepresentation
	Internal point representation uses only 3D coordinates for L2. More...
Public Types
typedef boost::shared_ptr < const TransformationValidation < PointSource, PointTarget, Scalar > >	ConstPtr
typedef pcl::search::KdTree < PointTarget >	KdTree
typedef pcl::search::KdTree < PointTarget >::Ptr	KdTreePtr
typedef TransformationValidation < PointSource, PointTarget, Scalar >::Matrix4	Matrix4
typedef TransformationValidation < PointSource, PointTarget > ::PointCloudSourceConstPtr	PointCloudSourceConstPtr
typedef TransformationValidation < PointSource, PointTarget > ::PointCloudTargetConstPtr	PointCloudTargetConstPtr
typedef KdTree::PointRepresentationConstPtr	PointRepresentationConstPtr
typedef boost::shared_ptr < TransformationValidation < PointSource, PointTarget, Scalar > >	Ptr
Public Member Functions
double	getMaxRange ()
	Get the maximum allowable distance between a point and its correspondence, as set by the user.
double	getThreshold ()
	Get the threshold for which a specific transformation is valid.
virtual bool	isValid (const PointCloudSourceConstPtr &cloud_src, const PointCloudTargetConstPtr &cloud_tgt, const Matrix4 &transformation_matrix) const
	Check if the score is valid for a specific transformation.
virtual bool	operator() (const double &score1, const double &score2) const
	Comparator function for deciding which score is better after running the validation on multiple transforms.
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.
void	setSearchMethodTarget (const KdTreePtr &tree, bool force_no_recompute=false)
	Provide a pointer to the search object used to find correspondences in the target cloud.
void	setThreshold (double threshold)
	Set a threshold for which a specific transformation is considered valid.
	TransformationValidationEuclidean ()
	Constructor. Sets the max_range parameter to double::max, threshold_ to NaN and initializes the internal search tree to a FLANN kd-tree.
double	validateTransformation (const PointCloudSourceConstPtr &cloud_src, const PointCloudTargetConstPtr &cloud_tgt, const Matrix4 &transformation_matrix) const
	Validate the given transformation with respect to the input cloud data, and return a score.
virtual	~TransformationValidationEuclidean ()
Protected Attributes
bool	force_no_recompute_
	A flag which, if set, means the tree operating on the target cloud will never be recomputed.
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.
double	threshold_
	The threshold for which a specific transformation is valid. Set to NaN by default, as we must require the user to set it.
KdTreePtr	tree_
	A pointer to the spatial search object.

Detailed Description

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

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);

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 74 of file transformation_validation_euclidean.h.

Member Typedef Documentation

template<typename PointSource , typename PointTarget , typename Scalar = float>

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

Definition at line 80 of file transformation_validation_euclidean.h.

template<typename PointSource , typename PointTarget , typename Scalar = float>

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

Definition at line 82 of file transformation_validation_euclidean.h.

template<typename PointSource , typename PointTarget , typename Scalar = float>

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

Definition at line 83 of file transformation_validation_euclidean.h.

template<typename PointSource , typename PointTarget , typename Scalar = float>

typedef TransformationValidation<PointSource, PointTarget, Scalar>::Matrix4 pcl::registration::TransformationValidationEuclidean< PointSource, PointTarget, Scalar >::Matrix4

Definition at line 77 of file transformation_validation_euclidean.h.

template<typename PointSource , typename PointTarget , typename Scalar = float>

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

Definition at line 87 of file transformation_validation_euclidean.h.

template<typename PointSource , typename PointTarget , typename Scalar = float>

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

Definition at line 88 of file transformation_validation_euclidean.h.

template<typename PointSource , typename PointTarget , typename Scalar = float>

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

Definition at line 85 of file transformation_validation_euclidean.h.

template<typename PointSource , typename PointTarget , typename Scalar = float>

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

Definition at line 79 of file transformation_validation_euclidean.h.

Constructor & Destructor Documentation

template<typename PointSource , typename PointTarget , typename Scalar = float>

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

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

Definition at line 94 of file transformation_validation_euclidean.h.

template<typename PointSource , typename PointTarget , typename Scalar = float>

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

Definition at line 102 of file transformation_validation_euclidean.h.

Member Function Documentation

template<typename PointSource , typename PointTarget , typename Scalar = float>

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

Get the maximum allowable distance between a point and its correspondence, as set by the user.

Definition at line 118 of file transformation_validation_euclidean.h.

template<typename PointSource , typename PointTarget , typename Scalar = float>

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

Get the threshold for which a specific transformation is valid.

Definition at line 158 of file transformation_validation_euclidean.h.

template<typename PointSource , typename PointTarget , typename Scalar = float>

virtual bool pcl::registration::TransformationValidationEuclidean< PointSource, PointTarget, Scalar >::isValid	(	const PointCloudSourceConstPtr &	cloud_src,
		const PointCloudTargetConstPtr &	cloud_tgt,
		const Matrix4 &	transformation_matrix
	)		const `[inline, virtual]`

Check if the score is valid for a specific transformation.

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.

Definition at line 201 of file transformation_validation_euclidean.h.

template<typename PointSource , typename PointTarget , typename Scalar = float>

virtual bool pcl::registration::TransformationValidationEuclidean< PointSource, PointTarget, Scalar >::operator()	(	const double &	score1,
		const double &	score2
	)		const `[inline, virtual]`

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

Parameters:

[in]	score1	the first value
[in]	score2	the second value

Returns:: true if score1 is better than score2

Definition at line 187 of file transformation_validation_euclidean.h.

template<typename PointSource , typename PointTarget , typename Scalar = float>

void pcl::registration::TransformationValidationEuclidean< PointSource, PointTarget, Scalar >::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 109 of file transformation_validation_euclidean.h.

template<typename PointSource , typename PointTarget , typename Scalar = float>

void pcl::registration::TransformationValidationEuclidean< PointSource, PointTarget, Scalar >::setSearchMethodTarget	(	const KdTreePtr &	tree,
		bool	force_no_recompute = `false`
	)		`[inline]`

Provide a pointer to the search object used to find correspondences in the target cloud.

Parameters:

[in]	tree	a pointer to the spatial search object.
[in]	force_no_recompute	If set to true, this tree will NEVER be recomputed, regardless of calls to setInputTarget. Only use if you are confident that the tree will be set correctly.

Definition at line 132 of file transformation_validation_euclidean.h.

template<typename PointSource , typename PointTarget , typename Scalar = float>

void pcl::registration::TransformationValidationEuclidean< PointSource, PointTarget, Scalar >::setThreshold ( double threshold ) [inline]

Set a threshold for which a specific transformation is considered valid.

Note:: Since we're using MSE (Mean Squared Error) as a metric, the threshold represents the mean Euclidean distance threshold over all nearest neighbors up to max_range.

Parameters:

[in] threshold the threshold for which a transformation is vali

Definition at line 151 of file transformation_validation_euclidean.h.

template<typename PointSource , typename PointTarget , typename Scalar >

double pcl::registration::TransformationValidationEuclidean< PointSource, PointTarget, Scalar >::validateTransformation	(	const PointCloudSourceConstPtr &	cloud_src,
		const PointCloudTargetConstPtr &	cloud_tgt,
		const Matrix4 &	transformation_matrix
	)		const

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 45 of file transformation_validation_euclidean.hpp.

Member Data Documentation

template<typename PointSource , typename PointTarget , typename Scalar = float>

bool pcl::registration::TransformationValidationEuclidean< PointSource, PointTarget, Scalar >::force_no_recompute_ [protected]

A flag which, if set, means the tree operating on the target cloud will never be recomputed.

Definition at line 231 of file transformation_validation_euclidean.h.

template<typename PointSource , typename PointTarget , typename Scalar = float>

double pcl::registration::TransformationValidationEuclidean< PointSource, PointTarget, Scalar >::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 219 of file transformation_validation_euclidean.h.

template<typename PointSource , typename PointTarget , typename Scalar = float>

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

The threshold for which a specific transformation is valid. Set to NaN by default, as we must require the user to set it.

Definition at line 224 of file transformation_validation_euclidean.h.

template<typename PointSource , typename PointTarget , typename Scalar = float>

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

A pointer to the spatial search object.

Definition at line 227 of file transformation_validation_euclidean.h.

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

Classes

Public Types

Public Member Functions

Protected Attributes

Detailed Description

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

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

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