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CorrespondenceEstimationBase.H
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1 /*! @file
2  @author Shane Grant
3  @copyright GNU Public License (GPL v3)
4  @section License
5  @verbatim
6  // ////////////////////////////////////////////////////////////////////////
7  // The iLab Neuromorphic Robotics Toolkit (NRT) //
8  // Copyright 2010-2012 by the University of Southern California (USC) //
9  // and the iLab at USC. //
10  // //
11  // iLab - University of Southern California //
12  // Hedco Neurociences Building, Room HNB-10 //
13  // Los Angeles, Ca 90089-2520 - USA //
14  // //
15  // See http://ilab.usc.edu for information about this project. //
16  // ////////////////////////////////////////////////////////////////////////
17  // This file is part of The iLab Neuromorphic Robotics Toolkit. //
18  // //
19  // The iLab Neuromorphic Robotics Toolkit is free software: you can //
20  // redistribute it and/or modify it under the terms of the GNU General //
21  // Public License as published by the Free Software Foundation, either //
22  // version 3 of the License, or (at your option) any later version. //
23  // //
24  // The iLab Neuromorphic Robotics Toolkit is distributed in the hope //
25  // that it will be useful, but WITHOUT ANY WARRANTY; without even the //
26  // implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR //
27  // PURPOSE. See the GNU General Public License for more details. //
28  // //
29  // You should have received a copy of the GNU General Public License //
30  // along with The iLab Neuromorphic Robotics Toolkit. If not, see //
31  // <http://www.gnu.org/licenses/>. //
32  // ////////////////////////////////////////////////////////////////////////
33  @endverbatim */
34 
35 #ifdef NRT_HAVE_CLOUD
36 #ifndef NRT_POINTCLOUD2_REGISTRATION_CORRESPONDENCE_CORRESPONDENCEESTIMATIONBASE_H_
37 #define NRT_POINTCLOUD2_REGISTRATION_CORRESPONDENCE_CORRESPONDENCEESTIMATIONBASE_H_
38 
39 #include <memory>
40 
43 
44 namespace nrt
45 {
46  class CorrespondenceEstimationBase
47  {
48  public:
49  //! Convenience tyepdef for shared ptr to this
50  typedef std::shared_ptr<CorrespondenceEstimationBase> SharedPtr;
51 
52  //! Virtual destruction
53  virtual ~CorrespondenceEstimationBase() {}
54 
55  //! Find the correspondences between a source and target cloud
56  /*! @param source The source cloud
57  @param target The target cloud
58  @return The correspondences between the two clouds */
59  virtual Correspondences findCorrespondence( PointCloud2 const source, PointCloud2 const target ) = 0;
60 
61  //! Find the correspondences between a source and target cloud
62  /*! @throws PointCloud2CorrespondenceException If this operation is not supported
63  @tparam Field The specific field (omit SparseField<>) to filter
64 
65  @param source The source cloud
66  @param target The target cloud
67  @return The correspondences between the two clouds */
68  template <class Field>
69  Correspondences findCorrespondence( PointCloud2 const source, PointCloud2 const target );
70 
71  //! Find the reciprocal correspondences between a source and target cloud
72  /*! A reciprocal correspondence in one in which the same pair of points correspond in both
73  the direction source->target and target->source
74 
75  @param source The source cloud
76  @param target The target cloud
77  @return The reciprocal correspondences between the two clouds */
78  virtual Correspondences findReciprocalCorrespondence( PointCloud2 const source, PointCloud2 const target ) = 0;
79 
80  //! Find the reciprocal correspondences between a source and target cloud
81  /*! A reciprocal correspondence in one in which the same pair of points correspond in both
82  the direction source->target and target->source
83 
84  @throws PointCloud2CorrespondenceException If this operation is not supported
85  @tparam Field The specific field (omit SparseField<>) to filter
86 
87  @param source The source cloud
88  @param target The target cloud
89  @return The reciprocal correspondences between the two clouds */
90  template <class Field>
91  Correspondences findReciprocalCorrespondence( PointCloud2 const source, PointCloud2 const target );
92  };
93 
94  namespace exception
95  {
96  //! An exception thrown during errors with filtering
98  {
99  public:
100  //! Construct a new exception for an incompatible field
101  PointCloud2CorrespondenceException( std::string const & field ) noexcept;
102 
103  virtual ~PointCloud2CorrespondenceException() noexcept;
104 
105  //! Get the field name that caused the error
106  std::string const & field() const;
107 
108  private:
109  std::string itsField;
110  std::string whatstring;
111  };
112  } // namespace exception
113 } // namespace nrt
114 
116 
117 #endif // NRT_POINTCLOUD2_REGISTRATION_CORRESPONDENCE_CORRESPONDENCEESTIMATIONBASE_H_
118 #endif // NRT_HAVE_CLOUD