geometric_consistency.h

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#ifndef PCL_RECOGNITION_GEOMETRIC_CONSISTENCY_H_
#define PCL_RECOGNITION_GEOMETRIC_CONSISTENCY_H_

#include <pcl/recognition/cg/correspondence_grouping.h>
#include <pcl/point_cloud.h>

namespace pcl
{
 
  template<typename PointModelT, typename PointSceneT>
  class GeometricConsistencyGrouping : public CorrespondenceGrouping<PointModelT, PointSceneT>
  {
    public:
      typedef pcl::PointCloud<PointModelT> PointCloud;
      typedef typename PointCloud::Ptr PointCloudPtr;
      typedef typename PointCloud::ConstPtr PointCloudConstPtr;

      typedef typename pcl::CorrespondenceGrouping<PointModelT, PointSceneT>::SceneCloudConstPtr SceneCloudConstPtr;

      GeometricConsistencyGrouping () 
        : gc_threshold_ (3)
        , gc_size_ (1.0)
        , found_transformations_ ()
      {}

      
      inline void
      setGCThreshold (int threshold)
      {
        gc_threshold_ = threshold;
      }

      inline int
      getGCThreshold () const
      {
        return (gc_threshold_);
      }

      inline void
      setGCSize (double gc_size)
      {
        gc_size_ = gc_size;
      }

      inline double
      getGCSize () const
      {
        return (gc_size_);
      }

      bool
      recognize (std::vector<Eigen::Matrix4f, Eigen::aligned_allocator<Eigen::Matrix4f> > &transformations);

      bool
      recognize (std::vector<Eigen::Matrix4f, Eigen::aligned_allocator<Eigen::Matrix4f> > &transformations, std::vector<pcl::Correspondences> &clustered_corrs);

    protected:
      using CorrespondenceGrouping<PointModelT, PointSceneT>::input_;
      using CorrespondenceGrouping<PointModelT, PointSceneT>::scene_;
      using CorrespondenceGrouping<PointModelT, PointSceneT>::model_scene_corrs_;

      int gc_threshold_;

      double gc_size_;

      std::vector<Eigen::Matrix4f, Eigen::aligned_allocator<Eigen::Matrix4f> > found_transformations_;

      void
      clusterCorrespondences (std::vector<Correspondences> &model_instances);
  };
}

#ifdef PCL_NO_PRECOMPILE
#include <pcl/recognition/impl/cg/geometric_consistency.hpp>
#endif

#endif // PCL_RECOGNITION_GEOMETRIC_CONSISTENCY_H_