transformation_validation_euclidean.h

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#ifndef PCL_REGISTRATION_TRANSFORMATION_VALIDATION_EUCLIDEAN_H_
#define PCL_REGISTRATION_TRANSFORMATION_VALIDATION_EUCLIDEAN_H_

#include <pcl/point_representation.h>
#include <pcl/search/kdtree.h>
#include <pcl/kdtree/kdtree.h>
#include <pcl/kdtree/kdtree_flann.h>
#include <pcl/registration/transformation_validation.h>

namespace pcl
{
  namespace registration
  {
    template <typename PointSource, typename PointTarget, typename Scalar = float>
    class TransformationValidationEuclidean
    {
      public:
        typedef typename TransformationValidation<PointSource, PointTarget, Scalar>::Matrix4 Matrix4;
        
        typedef boost::shared_ptr<TransformationValidation<PointSource, PointTarget, Scalar> > Ptr;
        typedef boost::shared_ptr<const TransformationValidation<PointSource, PointTarget, Scalar> > ConstPtr;

        typedef typename pcl::search::KdTree<PointTarget> KdTree;
        typedef typename pcl::search::KdTree<PointTarget>::Ptr KdTreePtr;

        typedef typename KdTree::PointRepresentationConstPtr PointRepresentationConstPtr;

        typedef typename TransformationValidation<PointSource, PointTarget>::PointCloudSourceConstPtr PointCloudSourceConstPtr;
        typedef typename TransformationValidation<PointSource, PointTarget>::PointCloudTargetConstPtr PointCloudTargetConstPtr;

        TransformationValidationEuclidean () : 
          max_range_ (std::numeric_limits<double>::max ()),
          threshold_ (std::numeric_limits<double>::quiet_NaN ()),
          tree_ (new pcl::search::KdTree<PointTarget>),
          force_no_recompute_ (false)
        {
        }

        virtual ~TransformationValidationEuclidean () {};

        inline void
        setMaxRange (double max_range)
        {
          max_range_ = max_range;
        }

        inline double
        getMaxRange ()
        {
          return (max_range_);
        }


        inline void
        setSearchMethodTarget (const KdTreePtr &tree, 
                               bool force_no_recompute = false) 
        { 
          tree_ = tree; 
          if (force_no_recompute)
          {
            force_no_recompute_ = true;
          }
        }

        inline void
        setThreshold (double threshold)
        {
          threshold_ = threshold;
        }

        inline double
        getThreshold ()
        {
          return (threshold_);
        }

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

        virtual bool
        operator() (const double &score1, const double &score2) const
        {
          return (score1 < score2);
        }

        virtual bool
        isValid (
            const PointCloudSourceConstPtr &cloud_src,
            const PointCloudTargetConstPtr &cloud_tgt,
            const Matrix4 &transformation_matrix) const
        {
          if (pcl_isnan (threshold_))
          {
            PCL_ERROR ("[pcl::TransformationValidationEuclidean::isValid] Threshold not set! Please use setThreshold () before continuing.");
            return (false);
          }

          return (validateTransformation (cloud_src, cloud_tgt, transformation_matrix) < threshold_);
        }

      protected:
        double max_range_;

        double threshold_;

        KdTreePtr tree_;

        bool force_no_recompute_;


        class MyPointRepresentation: public pcl::PointRepresentation<PointTarget>
        {
          using pcl::PointRepresentation<PointTarget>::nr_dimensions_;
          using pcl::PointRepresentation<PointTarget>::trivial_;
          public:
            typedef boost::shared_ptr<MyPointRepresentation> Ptr;
            typedef boost::shared_ptr<const MyPointRepresentation> ConstPtr;
            
            MyPointRepresentation ()
            {
              nr_dimensions_ = 3;
              trivial_ = true;
            }
      
            virtual ~MyPointRepresentation () {}

            virtual void
            copyToFloatArray (const PointTarget &p, float * out) const
            {
              out[0] = p.x;
              out[1] = p.y;
              out[2] = p.z;
            }
        };

      public:
        EIGEN_MAKE_ALIGNED_OPERATOR_NEW
    };
  }
}

#include <pcl/registration/impl/transformation_validation_euclidean.hpp>

#endif    // PCL_REGISTRATION_TRANSFORMATION_VALIDATION_EUCLIDEAN_H_