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_
double getGCSize() const
Gets the consensus set resolution.
boost::shared_ptr< const PointCloud< PointT > > ConstPtr
double gc_size_
Resolution of the consensus set used to cluster correspondences together.
boost::shared_ptr< PointCloud< PointT > > Ptr
int gc_threshold_
Minimum cluster size.
void setGCThreshold(int threshold)
Sets the minimum cluster size.
void setGCSize(double gc_size)
Sets the consensus set resolution.
PointCloud::ConstPtr PointCloudConstPtr
pcl::CorrespondenceGrouping< PointModelT, PointSceneT >::SceneCloudConstPtr SceneCloudConstPtr
PointCloud::Ptr PointCloudPtr
void clusterCorrespondences(std::vector< Correspondences > &model_instances)
Cluster the input correspondences in order to distinguish between different instances of the model in...
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...
GeometricConsistencyGrouping()
Constructor.
SceneCloud::ConstPtr SceneCloudConstPtr
Abstract base class for Correspondence Grouping algorithms.
int getGCThreshold() const
Gets the minimum cluster size.
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.
std::vector< Eigen::Matrix4f, Eigen::aligned_allocator< Eigen::Matrix4f > > found_transformations_
Transformations found by clusterCorrespondences method.
pcl::PointCloud< PointModelT > PointCloud