42#include <pcl/recognition/cg/correspondence_grouping.h>
43#include <pcl/point_cloud.h>
53 template<
typename Po
intModelT,
typename Po
intSceneT>
152#ifdef PCL_NO_PRECOMPILE
153#include <pcl/recognition/impl/cg/geometric_consistency.hpp>
Iterator class for point clouds with or without given indices.
Abstract base class for Correspondence Grouping algorithms.
CorrespondencesConstPtr model_scene_corrs_
The correspondences between points in the input and the scene datasets.
SceneCloudConstPtr scene_
The scene cloud.
typename SceneCloud::ConstPtr SceneCloudConstPtr
Class implementing a 3D correspondence grouping enforcing geometric consistency among feature corresp...
int gc_threshold_
Minimum cluster size.
GeometricConsistencyGrouping()
Constructor.
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
typename pcl::CorrespondenceGrouping< PointModelT, PointSceneT >::SceneCloudConstPtr SceneCloudConstPtr
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.
PointCloudConstPtr input_
The input point cloud dataset.
shared_ptr< PointCloud< PointT > > Ptr
shared_ptr< const PointCloud< PointT > > ConstPtr