 TransformationValidation represents the base class for methods that validate the correctness of a transformation found through TransformationEstimation. More... #include <pcl/registration/transformation_validation.h>  
 Public Types 
using 

Matrix4 = Eigen8b7c:f320:99b9:690f:4595:cd17:293a:c069Matrix< Scalar, 4, 4 >
   
using 

Ptr = shared_ptr< TransformationValidation< PointSource, PointTarget, Scalar > >
   
using 

ConstPtr = shared_ptr< const TransformationValidation< PointSource, PointTarget, Scalar > >
   
using 

PointCloudSource = pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069PointCloud< PointSource >
   
using 

PointCloudSourcePtr = typename PointCloudSour8b7c:f320:99b9:690f:4595:cd17:293a:c069Ptr

   
using 

PointCloudSourceConstPtr = typename PointCloudSour8b7c:f320:99b9:690f:4595:cd17:293a:c069ConstPtr

   
using 

PointCloudTarget = pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069PointCloud< PointTarget >
   
using 

PointCloudTargetPtr = typename PointCloudTarget8b7c:f320:99b9:690f:4595:cd17:293a:c069Ptr

   
using 

PointCloudTargetConstPtr = typename PointCloudTarget8b7c:f320:99b9:690f:4595:cd17:293a:c069onstPtr

   
 
 Public Member Functions 
 

TransformationValidation ()
   
virtual 

~TransformationValidation ()
   
virtual double 

validateTransformation (const PointCloudSourceConstPtr &cloud_src, const PointCloudTargetConstPtr &cloud_tgt, const Matrix4 &transformation_matrix) const =0
 
 
Validate the given transformation with respect to the input cloud data, and return a score. More...

   
virtual bool 

operator() (const double &score1, const double &score2) const =0
 
 

Comparator function for deciding which score is better after running the validation on multiple transforms. More...

   
virtual bool 

isValid (const PointCloudSourceConstPtr &cloud_src, const PointCloudTargetConstPtr &cloud_tgt, const Matrix4 &transformation_matrix) const =0
 
 
Check if the score is valid for a specific transformation. More...

    Detailed Description 
template<typename PointSource, typename PointTarget, typename Scalar = float> class pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069registration8b7c:f320:99b9:690f:4595:cd17:293a:c069TransformationValidation< PointSource, PointTarget, Scalar > 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. 
Note
The class is templated on the source and target point types as well as on the output scalar of the transformation matrix (i.e., float or double). Default: float. 
 
Author
Radu B. Rusu 
 Definition at line 68 of file transformation_validation.h. 
Member Typedef Documentation  ConstPtr    template<typename PointSource , typename PointTarget , typename Scalar = float>    using pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069registration8b7c:f320:99b9:690f:4595:cd17:293a:c069TransformationValidation< PointSource, PointTarget, Scalar >8b7c:f320:99b9:690f:4595:cd17:293a:c069onstPtr = shared_ptr<const TransformationValidation<PointSource, PointTarget, Scalar> >   
 Definition at line 73 of file transformation_validation.h.    Matrix4    template<typename PointSource , typename PointTarget , typename Scalar = float>    using pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069registration8b7c:f320:99b9:690f:4595:cd17:293a:c069TransformationValidation< PointSource, PointTarget, Scalar >8b7c:f320:99b9:690f:4595:cd17:293a:c069Matrix4 = Eigen8b7c:f320:99b9:690f:4595:cd17:293a:c069Matrix<Scalar, 4, 4>   
 Definition at line 70 of file transformation_validation.h.    PointCloudSource    template<typename PointSource , typename PointTarget , typename Scalar = float>    using pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069registration8b7c:f320:99b9:690f:4595:cd17:293a:c069TransformationValidation< PointSource, PointTarget, Scalar >8b7c:f320:99b9:690f:4595:cd17:293a:c069PointCloudSource = pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069PointCloud<PointSource>   
 Definition at line 75 of file transformation_validation.h.    PointCloudSourceConstPtr    template<typename PointSource , typename PointTarget , typename Scalar = float>    using pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069registration8b7c:f320:99b9:690f:4595:cd17:293a:c069TransformationValidation< PointSource, PointTarget, Scalar >8b7c:f320:99b9:690f:4595:cd17:293a:c069PointCloudSourceConstPtr = typename PointCloudSour8b7c:f320:99b9:690f:4595:cd17:293a:c069ConstPtr
   
 Definition at line 77 of file transformation_validation.h.    PointCloudSourcePtr    template<typename PointSource , typename PointTarget , typename Scalar = float>    using pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069registration8b7c:f320:99b9:690f:4595:cd17:293a:c069TransformationValidation< PointSource, PointTarget, Scalar >8b7c:f320:99b9:690f:4595:cd17:293a:c069PointCloudSourcePtr = typename PointCloudSour8b7c:f320:99b9:690f:4595:cd17:293a:c069Ptr
   
 Definition at line 76 of file transformation_validation.h.    PointCloudTarget    template<typename PointSource , typename PointTarget , typename Scalar = float>    using pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069registration8b7c:f320:99b9:690f:4595:cd17:293a:c069TransformationValidation< PointSource, PointTarget, Scalar >8b7c:f320:99b9:690f:4595:cd17:293a:c069PointCloudTarget = pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069PointCloud<PointTarget>   
 Definition at line 79 of file transformation_validation.h.    PointCloudTargetConstPtr    template<typename PointSource , typename PointTarget , typename Scalar = float>    using pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069registration8b7c:f320:99b9:690f:4595:cd17:293a:c069TransformationValidation< PointSource, PointTarget, Scalar >8b7c:f320:99b9:690f:4595:cd17:293a:c069PointCloudTargetConstPtr = typename PointCloudTarget8b7c:f320:99b9:690f:4595:cd17:293a:c069onstPtr
   
 Definition at line 81 of file transformation_validation.h.    PointCloudTargetPtr    template<typename PointSource , typename PointTarget , typename Scalar = float>    using pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069registration8b7c:f320:99b9:690f:4595:cd17:293a:c069TransformationValidation< PointSource, PointTarget, Scalar >8b7c:f320:99b9:690f:4595:cd17:293a:c069PointCloudTargetPtr = typename PointCloudTarget8b7c:f320:99b9:690f:4595:cd17:293a:c069Ptr
   
 Definition at line 80 of file transformation_validation.h.    Ptr    template<typename PointSource , typename PointTarget , typename Scalar = float>    using pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069registration8b7c:f320:99b9:690f:4595:cd17:293a:c069TransformationValidation< PointSource, PointTarget, Scalar >8b7c:f320:99b9:690f:4595:cd17:293a:c069Ptr = shared_ptr<TransformationValidation<PointSource, PointTarget, Scalar> >   
 Definition at line 71 of file transformation_validation.h.   Constructor & Destructor Documentation  TransformationValidation()    template<typename PointSource , typename PointTarget , typename Scalar = float>       
pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069registration8b7c:f320:99b9:690f:4595:cd17:293a:c069TransformationValidation< PointSource, PointTarget, Scalar >8b7c:f320:99b9:690f:4595:cd17:293a:c069TransformationValidation  ( 
)      inline    
 Definition at line 83 of file transformation_validation.h.    ~TransformationValidation()    template<typename PointSource , typename PointTarget , typename Scalar = float>       virtual pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069registration8b7c:f320:99b9:690f:4595:cd17:293a:c069TransformationValidation< PointSource, PointTarget, Scalar >8b7c:f320:99b9:690f:4595:cd17:293a:c069~TransformationValidation  ( 
)      inlinevirtual    
 Definition at line 84 of file transformation_validation.h.   Member Function Documentation  isValid()    template<typename PointSource , typename PointTarget , typename Scalar = float>       virtual bool pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069registration8b7c:f320:99b9:690f:4595:cd17:293a:c069TransformationValidation< PointSource, PointTarget, Scalar >8b7c:f320:99b9:690f:4595:cd17:293a:c069isValid  ( const PointCloudSourceConstPtr &  
cloud_src,      const PointCloudTargetConstPtr &  
cloud_tgt,      const Matrix4 &  
transformation_matrix     ) 
 const     pure virtual    
 Check if the score is valid for a specific transformation.  Pure virtual. 
Parameters
  
[in]
cloud_src
the source point cloud dataset 
 
[in]
cloud_tgt
the target point cloud dataset 
 
[out]
transformation_matrix
the transformation matrix
    
Returns
true if the transformation is valid, false otherwise. 
    operator()()    template<typename PointSource , typename PointTarget , typename Scalar = float>       virtual bool pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069registration8b7c:f320:99b9:690f:4595:cd17:293a:c069TransformationValidation< PointSource, PointTarget, Scalar >8b7c:f320:99b9:690f:4595:cd17:293a:c069operator()  ( const double &  
score1,      const double &  
score2     ) 
 const     pure virtual    
 Comparator function for deciding which score is better after running the validation on multiple transforms.  Pure virtual. 
Note
For example, for Euclidean distances smaller is better, for inliers the opposite.
 
Parameters
  
[in]
score1
the first value 
 
[in]
score2
the second value
    
Returns
true if score1 is better than score2 
    validateTransformation()    template<typename PointSource , typename PointTarget , typename Scalar = float>       virtual double pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069registration8b7c:f320:99b9:690f:4595:cd17:293a:c069TransformationValidation< PointSource, PointTarget, Scalar >8b7c:f320:99b9:690f:4595:cd17:293a:c069validateTransformation  ( const PointCloudSourceConstPtr &  
cloud_src,      const PointCloudTargetConstPtr &  
cloud_tgt,      const Matrix4 &  
transformation_matrix     ) 
 const     pure virtual    
 Validate the given transformation with respect to the input cloud data, and return a score.  Pure virtual. 
Parameters
  
[in]
cloud_src
the source point cloud dataset 
 
[in]
cloud_tgt
the target point cloud dataset 
 
[out]
transformation_matrix
the transformation matrix
    
Returns
the score or confidence measure for the given transformation_matrix with respect to the input data 
   The documentation for this class was generated from the following file: pcl/registration/transformation_validation.h
  

    © 2009–2012, Willow Garage, Inc.
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