Class implementing a 3D correspondence grouping enforcing geometric consistency among feature correspondences. More...
#include <geometric_consistency.h>
Public Types | |
| typedef pcl::PointCloud < PointModelT > | PointCloud |
| typedef PointCloud::ConstPtr | PointCloudConstPtr |
| typedef PointCloud::Ptr | PointCloudPtr |
| typedef pcl::CorrespondenceGrouping < PointModelT, PointSceneT > ::SceneCloudConstPtr | SceneCloudConstPtr |
Public Member Functions | |
| GeometricConsistencyGrouping () | |
| Constructor. | |
| double | getGCSize () const |
| Gets the consensus set resolution. | |
| 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. | |
| bool | recognize (std::vector< Eigen::Matrix4f, Eigen::aligned_allocator< Eigen::Matrix4f > > &transformations, std::vector< pcl::Correspondences > &clustered_corrs) |
| The main function, recognizes instances of the model into the scene set by the user. | |
| void | setGCSize (double gc_size) |
| Sets the consensus set resolution. This should be in metric units. | |
| void | setGCThreshold (int threshold) |
| Sets the minimum cluster size. | |
Protected Member Functions | |
| void | clusterCorrespondences (std::vector< Correspondences > &model_instances) |
| Cluster the input correspondences in order to distinguish between different instances of the model into the scene. | |
Protected Attributes | |
| std::vector< Eigen::Matrix4f, Eigen::aligned_allocator < Eigen::Matrix4f > > | found_transformations_ |
| Transformations found by clusterCorrespondences method. | |
| double | gc_size_ |
| Resolution of the consensus set used to cluster correspondences together. | |
| int | gc_threshold_ |
| Minimum cluster size. It shouldn't be less than 3, since at least 3 correspondences are needed to compute the 6DOF pose. | |
Detailed Description
template<typename PointModelT, typename PointSceneT>
class pcl::GeometricConsistencyGrouping< PointModelT, PointSceneT >
Class implementing a 3D correspondence grouping enforcing geometric consistency among feature correspondences.
Definition at line 55 of file geometric_consistency.h.
Member Typedef Documentation
| typedef pcl::PointCloud<PointModelT> pcl::GeometricConsistencyGrouping< PointModelT, PointSceneT >::PointCloud |
Reimplemented from pcl::PCLBase< PointModelT >.
Definition at line 58 of file geometric_consistency.h.
| typedef PointCloud::ConstPtr pcl::GeometricConsistencyGrouping< PointModelT, PointSceneT >::PointCloudConstPtr |
Reimplemented from pcl::PCLBase< PointModelT >.
Definition at line 60 of file geometric_consistency.h.
| typedef PointCloud::Ptr pcl::GeometricConsistencyGrouping< PointModelT, PointSceneT >::PointCloudPtr |
Reimplemented from pcl::PCLBase< PointModelT >.
Definition at line 59 of file geometric_consistency.h.
| typedef pcl::CorrespondenceGrouping<PointModelT, PointSceneT>::SceneCloudConstPtr pcl::GeometricConsistencyGrouping< PointModelT, PointSceneT >::SceneCloudConstPtr |
Reimplemented from pcl::CorrespondenceGrouping< PointModelT, PointSceneT >.
Definition at line 62 of file geometric_consistency.h.
Constructor & Destructor Documentation
| pcl::GeometricConsistencyGrouping< PointModelT, PointSceneT >::GeometricConsistencyGrouping | ( | ) | [inline] |
Constructor.
Definition at line 65 of file geometric_consistency.h.
Member Function Documentation
| void pcl::GeometricConsistencyGrouping< PointModelT, PointSceneT >::clusterCorrespondences | ( | std::vector< Correspondences > & | model_instances | ) | [protected, virtual] |
Cluster the input correspondences in order to distinguish between different instances of the model into the scene.
- Parameters:
-
[out] model_instances a vector containing the clustered correspondences for each model found on the scene.
- Returns:
- true if the clustering had been successful or false if errors have occurred.
Implements pcl::CorrespondenceGrouping< PointModelT, PointSceneT >.
Definition at line 57 of file geometric_consistency.hpp.
| double pcl::GeometricConsistencyGrouping< PointModelT, PointSceneT >::getGCSize | ( | ) | const [inline] |
Gets the consensus set resolution.
- Returns:
- the consensus set resolution.
Definition at line 106 of file geometric_consistency.h.
| int pcl::GeometricConsistencyGrouping< PointModelT, PointSceneT >::getGCThreshold | ( | ) | const [inline] |
Gets the minimum cluster size.
- Returns:
- the minimum cluster size used by GC.
Definition at line 86 of file geometric_consistency.h.
| bool pcl::GeometricConsistencyGrouping< PointModelT, PointSceneT >::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.
- Parameters:
-
[out] transformations a vector containing one transformation matrix for each instance of the model recognized into the scene.
- Returns:
- true if the recognition had been successful or false if errors have occurred.
Definition at line 153 of file geometric_consistency.hpp.
| bool pcl::GeometricConsistencyGrouping< PointModelT, PointSceneT >::recognize | ( | std::vector< Eigen::Matrix4f, Eigen::aligned_allocator< Eigen::Matrix4f > > & | transformations, |
| std::vector< pcl::Correspondences > & | clustered_corrs | ||
| ) |
The main function, recognizes instances of the model into the scene set by the user.
- Parameters:
-
[out] transformations a vector containing one transformation matrix for each instance of the model recognized into the scene. [out] clustered_corrs a vector containing the correspondences for each instance of the model found within the input data (the same output of clusterCorrespondences).
- Returns:
- true if the recognition had been successful or false if errors have occurred.
Definition at line 162 of file geometric_consistency.hpp.
| void pcl::GeometricConsistencyGrouping< PointModelT, PointSceneT >::setGCSize | ( | double | gc_size | ) | [inline] |
Sets the consensus set resolution. This should be in metric units.
- Parameters:
-
[in] gc_size consensus set resolution.
Definition at line 96 of file geometric_consistency.h.
| void pcl::GeometricConsistencyGrouping< PointModelT, PointSceneT >::setGCThreshold | ( | int | threshold | ) | [inline] |
Sets the minimum cluster size.
- Parameters:
-
[in] threshold the minimum cluster size
Definition at line 76 of file geometric_consistency.h.
Member Data Documentation
std::vector<Eigen::Matrix4f, Eigen::aligned_allocator<Eigen::Matrix4f> > pcl::GeometricConsistencyGrouping< PointModelT, PointSceneT >::found_transformations_ [protected] |
Transformations found by clusterCorrespondences method.
Definition at line 142 of file geometric_consistency.h.
double pcl::GeometricConsistencyGrouping< PointModelT, PointSceneT >::gc_size_ [protected] |
Resolution of the consensus set used to cluster correspondences together.
Definition at line 139 of file geometric_consistency.h.
int pcl::GeometricConsistencyGrouping< PointModelT, PointSceneT >::gc_threshold_ [protected] |
Minimum cluster size. It shouldn't be less than 3, since at least 3 correspondences are needed to compute the 6DOF pose.
Definition at line 136 of file geometric_consistency.h.
The documentation for this class was generated from the following files: