42 #include <pcl/recognition/cg/correspondence_grouping.h>
43 #include <pcl/point_cloud.h>
53 template<
typename Po
intModelT,
typename Po
intSceneT>
112 recognize (std::vector<Eigen::Matrix4f, Eigen::aligned_allocator<Eigen::Matrix4f> > &transformations);
122 recognize (std::vector<Eigen::Matrix4f, Eigen::aligned_allocator<Eigen::Matrix4f> > &transformations, std::vector<pcl::Correspondences> &clustered_corrs);
148 #ifdef PCL_NO_PRECOMPILE
149 #include <pcl/recognition/impl/cg/geometric_consistency.hpp>
Abstract base class for Correspondence Grouping algorithms.
typename SceneCloud::ConstPtr SceneCloudConstPtr
Class implementing a 3D correspondence grouping enforcing geometric consistency among feature corresp...
int gc_threshold_
Minimum cluster size.
typename PointCloud::ConstPtr PointCloudConstPtr
int getGCThreshold() const
Gets the minimum cluster size.
void setGCThreshold(int threshold)
Sets the minimum cluster size.
void setGCSize(double gc_size)
Sets the consensus set resolution.
double gc_size_
Resolution of the consensus set used to cluster correspondences together.
void clusterCorrespondences(std::vector< Correspondences > &model_instances) override
Cluster the input correspondences in order to distinguish between different instances of the model in...
typename PointCloud::Ptr PointCloudPtr
GeometricConsistencyGrouping()=default
Constructor.
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.
double getGCSize() const
Gets the consensus set resolution.
PointCloud represents the base class in PCL for storing collections of 3D points.
shared_ptr< PointCloud< PointT > > Ptr
shared_ptr< const PointCloud< PointT > > ConstPtr