Point Cloud Library (PCL)
1.7.0
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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 { 00052 /** \brief TransformationValidation represents the base class for methods 00053 * that validate the correctness of a transformation found through \ref TransformationEstimation. 00054 * 00055 * The inputs for a validation estimation can take any or all of the following: 00056 * 00057 * - source point cloud 00058 * - target point cloud 00059 * - estimated transformation between source and target 00060 * 00061 * The output is in the form of a score or a confidence measure. 00062 * 00063 * \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. 00064 * \author Radu B. Rusu 00065 * \ingroup registration 00066 */ 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 00086 /** \brief Validate the given transformation with respect to the input cloud data, and return a score. Pure virtual. 00087 * 00088 * \param[in] cloud_src the source point cloud dataset 00089 * \param[in] cloud_tgt the target point cloud dataset 00090 * \param[out] transformation_matrix the transformation matrix 00091 * 00092 * \return the score or confidence measure for the given 00093 * transformation_matrix with respect to the input data 00094 */ 00095 virtual double 00096 validateTransformation ( 00097 const PointCloudSourceConstPtr &cloud_src, 00098 const PointCloudTargetConstPtr &cloud_tgt, 00099 const Matrix4 &transformation_matrix) const = 0; 00100 00101 /** \brief Comparator function for deciding which score is better after running the 00102 * validation on multiple transforms. Pure virtual. 00103 * 00104 * \note For example, for Euclidean distances smaller is better, for inliers the oposite. 00105 * 00106 * \param[in] score1 the first value 00107 * \param[in] score2 the second value 00108 * 00109 * \return true if score1 is better than score2 00110 */ 00111 virtual bool 00112 operator() (const double &score1, const double &score2) const = 0; 00113 00114 /** \brief Check if the score is valid for a specific transformation. Pure virtual. 00115 * 00116 * \param[in] cloud_src the source point cloud dataset 00117 * \param[in] cloud_tgt the target point cloud dataset 00118 * \param[out] transformation_matrix the transformation matrix 00119 * 00120 * \return true if the transformation is valid, false otherwise. 00121 */ 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_