pcl::registration::TransformationValidation< PointSource, PointTarget > Class Template Reference

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

#include <transformation_validation.h>

List of all members.

Public Types
typedef boost::shared_ptr < const TransformationValidation < PointSource, PointTarget > >	ConstPtr
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 > >	Ptr
Public Member Functions
	TransformationValidation ()
virtual double	validateTransformation (const PointCloudSourceConstPtr &cloud_src, const PointCloudTargetConstPtr &cloud_tgt, const Eigen::Matrix4f &transformation_matrix)=0
	Validate the given transformation with respect to the input cloud data, and return a score.
virtual	~TransformationValidation ()

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Detailed Description

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

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.

Author:

Radu B. Rusu

Definition at line 66 of file transformation_validation.h.

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Member Typedef Documentation

template<typename PointSource, typename PointTarget>

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

Definition at line 97 of file transformation_validation.h.

template<typename PointSource, typename PointTarget>

typedef pcl::PointCloud<PointSource> pcl::registration::TransformationValidation< PointSource, PointTarget >::PointCloudSource

Definition at line 69 of file transformation_validation.h.

template<typename PointSource, typename PointTarget>

typedef PointCloudSource::ConstPtr pcl::registration::TransformationValidation< PointSource, PointTarget >::PointCloudSourceConstPtr

Definition at line 71 of file transformation_validation.h.

template<typename PointSource, typename PointTarget>

typedef PointCloudSource::Ptr pcl::registration::TransformationValidation< PointSource, PointTarget >::PointCloudSourcePtr

Definition at line 70 of file transformation_validation.h.

template<typename PointSource, typename PointTarget>

typedef pcl::PointCloud<PointTarget> pcl::registration::TransformationValidation< PointSource, PointTarget >::PointCloudTarget

Definition at line 73 of file transformation_validation.h.

template<typename PointSource, typename PointTarget>

typedef PointCloudTarget::ConstPtr pcl::registration::TransformationValidation< PointSource, PointTarget >::PointCloudTargetConstPtr

Definition at line 75 of file transformation_validation.h.

template<typename PointSource, typename PointTarget>

typedef PointCloudTarget::Ptr pcl::registration::TransformationValidation< PointSource, PointTarget >::PointCloudTargetPtr

Definition at line 74 of file transformation_validation.h.

template<typename PointSource, typename PointTarget>

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

Definition at line 96 of file transformation_validation.h.

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Constructor & Destructor Documentation

template<typename PointSource, typename PointTarget>

pcl::registration::TransformationValidation< PointSource, PointTarget >::TransformationValidation

(

)

[inline]

Definition at line 77 of file transformation_validation.h.

template<typename PointSource, typename PointTarget>

virtual pcl::registration::TransformationValidation< PointSource, PointTarget >::~TransformationValidation

(

)

[inline, virtual]

Definition at line 78 of file transformation_validation.h.

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Member Function Documentation

template<typename PointSource, typename PointTarget>

virtual double pcl::registration::TransformationValidation< PointSource, PointTarget >::validateTransformation	(	const PointCloudSourceConstPtr &	cloud_src,
		const PointCloudTargetConstPtr &	cloud_tgt,
		const Eigen::Matrix4f &	transformation_matrix
	)		[pure virtual]

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

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

• transformation_validation.h