transformation_validation_euclidean.h

Go to the documentation of this file.

/*
 * Software License Agreement (BSD License)
 *
 *  Point Cloud Library (PCL) - www.pointclouds.org
 *  Copyright (c) 2010-2011, Willow Garage, Inc.
 *
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of Willow Garage, Inc. nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 *
 * $Id: transformation_validation_euclidean.h 4220 2012-02-03 06:26:08Z rusu $
 *
 */
#ifndef PCL_REGISTRATION_TRANSFORMATION_VALIDATION_EUCLIDEAN_H_
#define PCL_REGISTRATION_TRANSFORMATION_VALIDATION_EUCLIDEAN_H_

#include <pcl/point_representation.h>
#include <pcl/kdtree/kdtree.h>
#include <pcl/kdtree/kdtree_flann.h>
#include <pcl/registration/transformation_validation.h>

namespace pcl
{
  namespace registration
  {
    template <typename PointSource, typename PointTarget>
    class TransformationValidationEuclidean
    {
      public:
        typedef boost::shared_ptr<TransformationValidation<PointSource, PointTarget> > Ptr;
        typedef boost::shared_ptr<const TransformationValidation<PointSource, PointTarget> > ConstPtr;

        typedef typename pcl::KdTree<PointTarget> KdTree;
        typedef typename pcl::KdTree<PointTarget>::Ptr KdTreePtr;

        typedef typename KdTree::PointRepresentationConstPtr PointRepresentationConstPtr;

        typedef typename TransformationValidation<PointSource, PointTarget>::PointCloudSourceConstPtr PointCloudSourceConstPtr;
        typedef typename TransformationValidation<PointSource, PointTarget>::PointCloudTargetConstPtr PointCloudTargetConstPtr;

        TransformationValidationEuclidean () : 
          max_range_ (std::numeric_limits<double>::max ()),
          tree_ (new pcl::KdTreeFLANN<PointTarget>)
        {
        }

        virtual ~TransformationValidationEuclidean () {};

        inline void
        setMaxRange (double max_range)
        {
          max_range_ = max_range;
        }

        double
        validateTransformation (
            const PointCloudSourceConstPtr &cloud_src,
            const PointCloudTargetConstPtr &cloud_tgt,
            const Eigen::Matrix4f &transformation_matrix);

      protected:
        double max_range_;

        KdTreePtr tree_;

      public:
        EIGEN_MAKE_ALIGNED_OPERATOR_NEW
    };
  }
}

#include <pcl/registration/impl/transformation_validation_euclidean.hpp>

#endif /* PCL_REGISTRATION_TRANSFORMATION_VALIDATION_EUCLIDEAN_H_ */