transformation_validation.h
Go to the documentation of this file.
00001 /*
00002  * Software License Agreement (BSD License)
00003  *
00004  *  Point Cloud Library (PCL) - www.pointclouds.org
00005  *  Copyright (c) 2010-2011, Willow Garage, Inc.
00006  *  Copyright (c) 2012-, Open Perception, Inc.
00007  *
00008  *  All rights reserved.
00009  *
00010  *  Redistribution and use in source and binary forms, with or without
00011  *  modification, are permitted provided that the following conditions
00012  *  are met:
00013  *
00014  *   * Redistributions of source code must retain the above copyright
00015  *     notice, this list of conditions and the following disclaimer.
00016  *   * Redistributions in binary form must reproduce the above
00017  *     copyright notice, this list of conditions and the following
00018  *     disclaimer in the documentation and/or other materials provided
00019  *     with the distribution.
00020  *   * Neither the name of the copyright holder(s) nor the names of its
00021  *     contributors may be used to endorse or promote products derived
00022  *     from this software without specific prior written permission.
00023  *
00024  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00025  *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00026  *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00027  *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00028  *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00029  *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00030  *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00031  *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00032  *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00033  *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00034  *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00035  *  POSSIBILITY OF SUCH DAMAGE.
00036  *
00037  * $Id$
00038  *
00039  */
00040 #ifndef PCL_REGISTRATION_TRANSFORMATION_VALIDATION_H_
00041 #define PCL_REGISTRATION_TRANSFORMATION_VALIDATION_H_
00042 
00043 #include <pcl/correspondence.h>
00044 #include <pcl/features/feature.h>
00045 #include <pcl/common/transforms.h>
00046 #include <pcl/registration/correspondence_types.h>
00047 
00048 namespace pcl
00049 {
00050   namespace registration
00051   {
00067     template <typename PointSource, typename PointTarget, typename Scalar = float>
00068     class TransformationValidation
00069     {
00070       public:
00071         typedef Eigen::Matrix<Scalar, 4, 4> Matrix4;
00072         typedef boost::shared_ptr<TransformationValidation<PointSource, PointTarget, Scalar> > Ptr;
00073         typedef boost::shared_ptr<const TransformationValidation<PointSource, PointTarget, Scalar> > ConstPtr;
00074 
00075         typedef pcl::PointCloud<PointSource> PointCloudSource;
00076         typedef typename PointCloudSource::Ptr PointCloudSourcePtr;
00077         typedef typename PointCloudSource::ConstPtr PointCloudSourceConstPtr;
00078 
00079         typedef pcl::PointCloud<PointTarget> PointCloudTarget;
00080         typedef typename PointCloudTarget::Ptr PointCloudTargetPtr;
00081         typedef typename PointCloudTarget::ConstPtr PointCloudTargetConstPtr;
00082 
00083         TransformationValidation () {};
00084         virtual ~TransformationValidation () {};
00085 
00095         virtual double
00096         validateTransformation (
00097             const PointCloudSourceConstPtr &cloud_src,
00098             const PointCloudTargetConstPtr &cloud_tgt,
00099             const Matrix4 &transformation_matrix) const = 0;
00100 
00111         virtual bool
00112         operator() (const double &score1, const double &score2) const = 0;
00113 
00122         virtual bool
00123         isValid (
00124             const PointCloudSourceConstPtr &cloud_src,
00125             const PointCloudTargetConstPtr &cloud_tgt,
00126             const Matrix4 &transformation_matrix) const = 0;
00127     };
00128   }
00129 }
00130 
00131 #endif    // PCL_REGISTRATION_TRANSFORMATION_VALIDATION_H_


pcl
Author(s): Open Perception
autogenerated on Wed Aug 26 2015 15:37:04