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
  {
    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 () {};

        virtual double
        validateTransformation (
            const PointCloudSourceConstPtr &cloud_src,
            const PointCloudTargetConstPtr &cloud_tgt,
            const Matrix4 &transformation_matrix) const = 0;

        virtual bool
        operator() (const double &score1, const double &score2) const = 0;

        virtual bool
        isValid (
            const PointCloudSourceConstPtr &cloud_src,
            const PointCloudTargetConstPtr &cloud_tgt,
            const Matrix4 &transformation_matrix) const = 0;
    };
  }
}

#endif    // PCL_REGISTRATION_TRANSFORMATION_VALIDATION_H_