pcl::registration::TransformationValidationEuclidean< PointSource, PointTarget > Class Template Reference

TransformationValidationEuclidean computes an L2SQR norm between a source and target dataset. More...

#include <pcl/registration/transformation_validation_euclidean.h>

Public Types
typedef boost::shared_ptr < TransformationValidation < PointSource, PointTarget > >	Ptr
typedef boost::shared_ptr < const TransformationValidation < PointSource, PointTarget > >	ConstPtr
typedef pcl::KdTree< PointTarget >	KdTree
typedef pcl::KdTree < PointTarget >::Ptr	KdTreePtr
typedef KdTree::PointRepresentationConstPtr	PointRepresentationConstPtr
typedef TransformationValidation < PointSource, PointTarget > ::PointCloudSourceConstPtr	PointCloudSourceConstPtr
typedef TransformationValidation < PointSource, PointTarget > ::PointCloudTargetConstPtr	PointCloudTargetConstPtr

Public Member Functions
	TransformationValidationEuclidean ()
	Constructor. More...
virtual	~TransformationValidationEuclidean ()
void	setMaxRange (double max_range)
	Set the maximum allowable distance between a point and its correspondence in the target in order for a correspondence to be considered valid. More...
double	validateTransformation (const PointCloudSourceConstPtr &cloud_src, const PointCloudTargetConstPtr &cloud_tgt, const Eigen::Matrix4f &transformation_matrix)
	Validate the given transformation with respect to the input cloud data, and return a score. More...

Detailed Description

template<typename PointSource, typename PointTarget>
class pcl::registration::TransformationValidationEuclidean< PointSource, PointTarget >

TransformationValidationEuclidean computes an L2SQR norm between a source and target dataset.

To prevent points with bad correspondences to contribute to the overall score, the class also accepts a maximum_range parameter given via setMaxRange that is used as a cutoff value for nearest neighbor distance comparisons.

The output score is normalized with respect to the number of valid correspondences found.

Usage example:

pcl::TransformationValidationEuclidean<pcl::PointXYZ, pcl::PointXYZ> tve;
tve.setMaxRange (0.01);  // 1cm
double score = tve.validateTransformation (source, target, transformation);

Author

Radu B. Rusu

Definition at line 71 of file transformation_validation_euclidean.h.

Member Typedef Documentation

template<typename PointSource , typename PointTarget >

typedef boost::shared_ptr<const TransformationValidation<PointSource, PointTarget> > pcl::registration::TransformationValidationEuclidean< PointSource, PointTarget >::ConstPtr

Definition at line 75 of file transformation_validation_euclidean.h.

template<typename PointSource , typename PointTarget >

typedef pcl::KdTree<PointTarget> pcl::registration::TransformationValidationEuclidean< PointSource, PointTarget >::KdTree

Definition at line 77 of file transformation_validation_euclidean.h.

template<typename PointSource , typename PointTarget >

typedef pcl::KdTree<PointTarget>::Ptr pcl::registration::TransformationValidationEuclidean< PointSource, PointTarget >::KdTreePtr

Definition at line 78 of file transformation_validation_euclidean.h.

template<typename PointSource , typename PointTarget >

typedef TransformationValidation<PointSource, PointTarget>::PointCloudSourceConstPtr pcl::registration::TransformationValidationEuclidean< PointSource, PointTarget >::PointCloudSourceConstPtr

Definition at line 82 of file transformation_validation_euclidean.h.

template<typename PointSource , typename PointTarget >

typedef TransformationValidation<PointSource, PointTarget>::PointCloudTargetConstPtr pcl::registration::TransformationValidationEuclidean< PointSource, PointTarget >::PointCloudTargetConstPtr

Definition at line 83 of file transformation_validation_euclidean.h.

template<typename PointSource , typename PointTarget >

typedef KdTree::PointRepresentationConstPtr pcl::registration::TransformationValidationEuclidean< PointSource, PointTarget >::PointRepresentationConstPtr

Definition at line 80 of file transformation_validation_euclidean.h.

template<typename PointSource , typename PointTarget >

typedef boost::shared_ptr<TransformationValidation<PointSource, PointTarget> > pcl::registration::TransformationValidationEuclidean< PointSource, PointTarget >::Ptr

Definition at line 74 of file transformation_validation_euclidean.h.

Constructor & Destructor Documentation

template<typename PointSource , typename PointTarget >

pcl::registration::TransformationValidationEuclidean< PointSource, PointTarget >::TransformationValidationEuclidean ( )

inline

Constructor.

Sets the max_range parameter to double::max, and initializes the internal search tree to a FLANN kd-tree.

Definition at line 89 of file transformation_validation_euclidean.h.

template<typename PointSource , typename PointTarget >

virtual pcl::registration::TransformationValidationEuclidean< PointSource, PointTarget >::~TransformationValidationEuclidean ( )

inlinevirtual

Definition at line 95 of file transformation_validation_euclidean.h.

Member Function Documentation

template<typename PointSource , typename PointTarget >

void pcl::registration::TransformationValidationEuclidean< PointSource, PointTarget >::setMaxRange ( double  max_range)

inline

Set the maximum allowable distance between a point and its correspondence in the target in order for a correspondence to be considered valid.

Default: double::max.

Parameters

[in]

max_range

the new maximum allowable distance

Definition at line 102 of file transformation_validation_euclidean.h.

template<typename PointSource , typename PointTarget >

double pcl::registration::TransformationValidationEuclidean< PointSource, PointTarget >::validateTransformation	(	const PointCloudSourceConstPtr &	cloud_src,
		const PointCloudTargetConstPtr &	cloud_tgt,
		const Eigen::Matrix4f &	transformation_matrix
	)

Validate the given transformation with respect to the input cloud data, and return a score.

Parameters

[in]	cloud_src	the source point cloud dataset
[in]	cloud_tgt	the target point cloud dataset
[out]	transformation_matrix	the resultant transformation matrix

Returns

the score or confidence measure for the given transformation_matrix with respect to the input data

Definition at line 46 of file transformation_validation_euclidean.hpp.

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The documentation for this class was generated from the following files:

• /builddir/build/BUILD/PCL-1.6.0-Source/registration/include/pcl/registration/transformation_validation_euclidean.h
• /builddir/build/BUILD/PCL-1.6.0-Source/registration/include/pcl/registration/impl/transformation_validation_euclidean.hpp