transformation_validation.h

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 * $Id: transformation_validation.h 3828 2012-01-05 22:51:04Z svn $
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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>
    class TransformationValidation
    {
      public:
        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 Eigen::Matrix4f &transformation_matrix) = 0;


        typedef boost::shared_ptr<TransformationValidation<PointSource, PointTarget> > Ptr;
        typedef boost::shared_ptr<const TransformationValidation<PointSource, PointTarget> > ConstPtr;
    };
  }
}

#endif /* PCL_REGISTRATION_TRANSFORMATION_VALIDATION_H_ */