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 = Eigen::Matrix< Scalar, 4, 4 > |
| using | Ptr = shared_ptr< TransformationValidation< PointSource, PointTarget, Scalar > > |
| using | ConstPtr = shared_ptr< const TransformationValidation< PointSource, PointTarget, Scalar > > |
| using | PointCloudSource = pcl::PointCloud< PointSource > |
| using | PointCloudSourcePtr = typename PointCloudSource::Ptr |
| using | PointCloudSourceConstPtr = typename PointCloudSource::ConstPtr |
| using | PointCloudTarget = pcl::PointCloud< PointTarget > |
| using | PointCloudTargetPtr = typename PointCloudTarget::Ptr |
| using | PointCloudTargetConstPtr = typename PointCloudTarget::ConstPtr |
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 pcl::registration::TransformationValidation< 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.
Definition at line 68 of file transformation_validation.h.
Member Typedef Documentation
ConstPtr
| using pcl::registration::TransformationValidation< PointSource, PointTarget, Scalar >::ConstPtr = shared_ptr<const TransformationValidation<PointSource, PointTarget, Scalar> > |
Definition at line 73 of file transformation_validation.h.
Matrix4
| using pcl::registration::TransformationValidation< PointSource, PointTarget, Scalar >::Matrix4 = Eigen::Matrix<Scalar, 4, 4> |
Definition at line 70 of file transformation_validation.h.
PointCloudSource
| using pcl::registration::TransformationValidation< PointSource, PointTarget, Scalar >::PointCloudSource = pcl::PointCloud<PointSource> |
Definition at line 75 of file transformation_validation.h.
PointCloudSourceConstPtr
| using pcl::registration::TransformationValidation< PointSource, PointTarget, Scalar >::PointCloudSourceConstPtr = typename PointCloudSource::ConstPtr |
Definition at line 77 of file transformation_validation.h.
PointCloudSourcePtr
| using pcl::registration::TransformationValidation< PointSource, PointTarget, Scalar >::PointCloudSourcePtr = typename PointCloudSource::Ptr |
Definition at line 76 of file transformation_validation.h.
PointCloudTarget
| using pcl::registration::TransformationValidation< PointSource, PointTarget, Scalar >::PointCloudTarget = pcl::PointCloud<PointTarget> |
Definition at line 79 of file transformation_validation.h.
PointCloudTargetConstPtr
| using pcl::registration::TransformationValidation< PointSource, PointTarget, Scalar >::PointCloudTargetConstPtr = typename PointCloudTarget::ConstPtr |
Definition at line 81 of file transformation_validation.h.
PointCloudTargetPtr
| using pcl::registration::TransformationValidation< PointSource, PointTarget, Scalar >::PointCloudTargetPtr = typename PointCloudTarget::Ptr |
Definition at line 80 of file transformation_validation.h.
Ptr
| using pcl::registration::TransformationValidation< PointSource, PointTarget, Scalar >::Ptr = shared_ptr<TransformationValidation<PointSource, PointTarget, Scalar> > |
Definition at line 71 of file transformation_validation.h.
Constructor & Destructor Documentation
TransformationValidation()
|
inline |
Definition at line 83 of file transformation_validation.h.
~TransformationValidation()
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inlinevirtual |
Definition at line 84 of file transformation_validation.h.
Member Function Documentation
isValid()
|
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()()
|
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()
|
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.
© 2012–, Open Perception, Inc.
Licensed under the BSD License.
https://pointclouds.org/documentation/classpcl_1_1registration_1_1_transformation_validation.html
