130 lines
5.1 KiB
C++
130 lines
5.1 KiB
C++
/*
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* Software License Agreement (BSD License)
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*
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* Point Cloud Library (PCL) - www.pointclouds.org
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* Copyright (c) 2010-2011, Willow Garage, Inc.
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* Copyright (c) 2012-, Open Perception, Inc.
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*
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of the copyright holder(s) nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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* $Id$
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*
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*/
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#pragma once
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#include <pcl/common/transforms.h>
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#include <pcl/features/feature.h>
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#include <pcl/registration/correspondence_types.h>
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#include <pcl/correspondence.h>
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namespace pcl {
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namespace registration {
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/** \brief TransformationValidation represents the base class for methods
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* that validate the correctness of a transformation found through \ref
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* TransformationEstimation.
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*
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* The inputs for a validation estimation can take any or all of the following:
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*
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* - source point cloud
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* - target point cloud
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* - estimated transformation between source and target
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*
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* The output is in the form of a score or a confidence measure.
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*
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* \note The class is templated on the source and target point types as well as on the
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* output scalar of the transformation matrix (i.e., float or double). Default: float.
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* \author Radu B. Rusu
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* \ingroup registration
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*/
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template <typename PointSource, typename PointTarget, typename Scalar = float>
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class TransformationValidation {
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public:
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using Matrix4 = Eigen::Matrix<Scalar, 4, 4>;
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using Ptr = shared_ptr<TransformationValidation<PointSource, PointTarget, Scalar>>;
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using ConstPtr =
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shared_ptr<const TransformationValidation<PointSource, PointTarget, Scalar>>;
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using PointCloudSource = pcl::PointCloud<PointSource>;
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using PointCloudSourcePtr = typename PointCloudSource::Ptr;
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using PointCloudSourceConstPtr = typename PointCloudSource::ConstPtr;
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using PointCloudTarget = pcl::PointCloud<PointTarget>;
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using PointCloudTargetPtr = typename PointCloudTarget::Ptr;
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using PointCloudTargetConstPtr = typename PointCloudTarget::ConstPtr;
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TransformationValidation(){};
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virtual ~TransformationValidation(){};
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/** \brief Validate the given transformation with respect to the input cloud data, and
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* return a score. Pure virtual.
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*
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* \param[in] cloud_src the source point cloud dataset
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* \param[in] cloud_tgt the target point cloud dataset
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* \param[out] transformation_matrix the transformation matrix
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*
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* \return the score or confidence measure for the given
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* transformation_matrix with respect to the input data
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*/
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virtual double
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validateTransformation(const PointCloudSourceConstPtr& cloud_src,
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const PointCloudTargetConstPtr& cloud_tgt,
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const Matrix4& transformation_matrix) const = 0;
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/** \brief Comparator function for deciding which score is better after running the
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* validation on multiple transforms. Pure virtual.
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*
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* \note For example, for Euclidean distances smaller is better, for inliers the
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* opposite.
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*
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* \param[in] score1 the first value
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* \param[in] score2 the second value
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*
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* \return true if score1 is better than score2
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*/
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virtual bool
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operator()(const double& score1, const double& score2) const = 0;
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/** \brief Check if the score is valid for a specific transformation. Pure virtual.
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*
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* \param[in] cloud_src the source point cloud dataset
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* \param[in] cloud_tgt the target point cloud dataset
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* \param[out] transformation_matrix the transformation matrix
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*
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* \return true if the transformation is valid, false otherwise.
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*/
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virtual bool
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isValid(const PointCloudSourceConstPtr& cloud_src,
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const PointCloudTargetConstPtr& cloud_tgt,
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const Matrix4& transformation_matrix) const = 0;
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};
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} // namespace registration
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} // namespace pcl
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