40 #ifndef PCL_REGISTRATION_TRANSFORMATION_VALIDATION_EUCLIDEAN_H_ 41 #define PCL_REGISTRATION_TRANSFORMATION_VALIDATION_EUCLIDEAN_H_ 43 #include <pcl/point_representation.h> 44 #include <pcl/search/kdtree.h> 45 #include <pcl/kdtree/kdtree.h> 46 #include <pcl/kdtree/kdtree_flann.h> 47 #include <pcl/registration/transformation_validation.h> 51 namespace registration
73 template <
typename Po
intSource,
typename Po
intTarget,
typename Scalar =
float>
79 typedef boost::shared_ptr<TransformationValidation<PointSource, PointTarget, Scalar> >
Ptr;
80 typedef boost::shared_ptr<const TransformationValidation<PointSource, PointTarget, Scalar> >
ConstPtr;
97 tree_ (new
pcl::search::KdTree<PointTarget>),
133 bool force_no_recompute =
false)
136 if (force_no_recompute)
174 const PointCloudSourceConstPtr &cloud_src,
175 const PointCloudTargetConstPtr &cloud_tgt,
176 const Matrix4 &transformation_matrix)
const;
187 operator() (
const double &score1,
const double &score2)
const 189 return (score1 < score2);
202 const PointCloudSourceConstPtr &cloud_src,
203 const PointCloudTargetConstPtr &cloud_tgt,
204 const Matrix4 &transformation_matrix)
const 208 PCL_ERROR (
"[pcl::TransformationValidationEuclidean::isValid] Threshold not set! Please use setThreshold () before continuing.");
212 return (validateTransformation (cloud_src, cloud_tgt, transformation_matrix) <
threshold_);
240 typedef boost::shared_ptr<MyPointRepresentation>
Ptr;
241 typedef boost::shared_ptr<const MyPointRepresentation>
ConstPtr;
262 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
267 #include <pcl/registration/impl/transformation_validation_euclidean.hpp> 269 #endif // PCL_REGISTRATION_TRANSFORMATION_VALIDATION_EUCLIDEAN_H_
This file defines compatibility wrappers for low level I/O functions.
PointRepresentation provides a set of methods for converting a point structs/object into an n-dimensi...
boost::shared_ptr< KdTree< PointT, Tree > > Ptr
int nr_dimensions_
The number of dimensions in this point's vector (i.e.
bool trivial_
Indicates whether this point representation is trivial.
boost::shared_ptr< const PointRepresentation< PointTarget > > PointRepresentationConstPtr