40 #ifndef PCL_RECOGNITION_GEOMETRIC_CONSISTENCY_H_
41 #define PCL_RECOGNITION_GEOMETRIC_CONSISTENCY_H_
43 #include <pcl/recognition/cg/correspondence_grouping.h>
44 #include <pcl/point_cloud.h>
54 template<
typename Po
intModelT,
typename Po
intSceneT>
118 recognize (std::vector<Eigen::Matrix4f, Eigen::aligned_allocator<Eigen::Matrix4f> > &transformations);
128 recognize (std::vector<Eigen::Matrix4f, Eigen::aligned_allocator<Eigen::Matrix4f> > &transformations, std::vector<pcl::Correspondences> &clustered_corrs);
154 #ifdef PCL_NO_PRECOMPILE
155 #include <pcl/recognition/impl/cg/geometric_consistency.hpp>
158 #endif // PCL_RECOGNITION_GEOMETRIC_CONSISTENCY_H_
std::vector< Eigen::Matrix4f, Eigen::aligned_allocator< Eigen::Matrix4f > > found_transformations_
Transformations found by clusterCorrespondences method.
void setGCSize(double gc_size)
Sets the consensus set resolution.
pcl::CorrespondenceGrouping< PointModelT, PointSceneT >::SceneCloudConstPtr SceneCloudConstPtr
PointCloud::Ptr PointCloudPtr
boost::shared_ptr< const PointCloud< PointT > > ConstPtr
Abstract base class for Correspondence Grouping algorithms.
boost::shared_ptr< PointCloud< PointT > > Ptr
void setGCThreshold(int threshold)
Sets the minimum cluster size.
SceneCloud::ConstPtr SceneCloudConstPtr
void clusterCorrespondences(std::vector< Correspondences > &model_instances)
Cluster the input correspondences in order to distinguish between different instances of the model in...
pcl::PointCloud< PointModelT > PointCloud
GeometricConsistencyGrouping()
Constructor.
PointCloud::ConstPtr PointCloudConstPtr
double gc_size_
Resolution of the consensus set used to cluster correspondences together.
int getGCThreshold() const
Gets the minimum cluster size.
double getGCSize() const
Gets the consensus set resolution.
bool recognize(std::vector< Eigen::Matrix4f, Eigen::aligned_allocator< Eigen::Matrix4f > > &transformations)
The main function, recognizes instances of the model into the scene set by the user.
int gc_threshold_
Minimum cluster size.
PointCloud represents the base class in PCL for storing collections of 3D points. ...
Class implementing a 3D correspondence grouping enforcing geometric consistency among feature corresp...