Point Cloud Library (PCL)  1.7.0
/tmp/buildd/pcl-1.7-1.7.0/recognition/include/pcl/recognition/cg/geometric_consistency.h
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00039 
00040 #ifndef PCL_RECOGNITION_GEOMETRIC_CONSISTENCY_H_
00041 #define PCL_RECOGNITION_GEOMETRIC_CONSISTENCY_H_
00042 
00043 #include <pcl/recognition/cg/correspondence_grouping.h>
00044 #include <pcl/point_cloud.h>
00045 
00046 namespace pcl
00047 {
00048  
00049   /** \brief Class implementing a 3D correspondence grouping enforcing geometric consistency among feature correspondences
00050     *
00051     * \author Federico Tombari, Tommaso Cavallari, Aitor Aldoma
00052     * \ingroup recognition
00053     */
00054   template<typename PointModelT, typename PointSceneT>
00055   class GeometricConsistencyGrouping : public CorrespondenceGrouping<PointModelT, PointSceneT>
00056   {
00057     public:
00058       typedef pcl::PointCloud<PointModelT> PointCloud;
00059       typedef typename PointCloud::Ptr PointCloudPtr;
00060       typedef typename PointCloud::ConstPtr PointCloudConstPtr;
00061 
00062       typedef typename pcl::CorrespondenceGrouping<PointModelT, PointSceneT>::SceneCloudConstPtr SceneCloudConstPtr;
00063 
00064       /** \brief Constructor */
00065       GeometricConsistencyGrouping () 
00066         : gc_threshold_ (3)
00067         , gc_size_ (1.0)
00068         , found_transformations_ ()
00069       {}
00070 
00071       
00072       /** \brief Sets the minimum cluster size
00073         * \param[in] threshold the minimum cluster size 
00074         */
00075       inline void
00076       setGCThreshold (int threshold)
00077       {
00078         gc_threshold_ = threshold;
00079       }
00080 
00081       /** \brief Gets the minimum cluster size.
00082         * 
00083         * \return the minimum cluster size used by GC.
00084         */
00085       inline int
00086       getGCThreshold () const
00087       {
00088         return (gc_threshold_);
00089       }
00090 
00091       /** \brief Sets the consensus set resolution. This should be in metric units.
00092         * 
00093         * \param[in] gc_size consensus set resolution.
00094         */
00095       inline void
00096       setGCSize (double gc_size)
00097       {
00098         gc_size_ = gc_size;
00099       }
00100 
00101       /** \brief Gets the consensus set resolution.
00102         * 
00103         * \return the consensus set resolution.
00104         */
00105       inline double
00106       getGCSize () const
00107       {
00108         return (gc_size_);
00109       }
00110 
00111       /** \brief The main function, recognizes instances of the model into the scene set by the user.
00112         * 
00113         * \param[out] transformations a vector containing one transformation matrix for each instance of the model recognized into the scene.
00114         *
00115         * \return true if the recognition had been successful or false if errors have occurred.
00116         */
00117       bool
00118       recognize (std::vector<Eigen::Matrix4f, Eigen::aligned_allocator<Eigen::Matrix4f> > &transformations);
00119 
00120       /** \brief The main function, recognizes instances of the model into the scene set by the user.
00121         * 
00122         * \param[out] transformations a vector containing one transformation matrix for each instance of the model recognized into the scene.
00123         * \param[out] clustered_corrs a vector containing the correspondences for each instance of the model found within the input data (the same output of clusterCorrespondences).
00124         *
00125         * \return true if the recognition had been successful or false if errors have occurred.
00126         */
00127       bool
00128       recognize (std::vector<Eigen::Matrix4f, Eigen::aligned_allocator<Eigen::Matrix4f> > &transformations, std::vector<pcl::Correspondences> &clustered_corrs);
00129 
00130     protected:
00131       using CorrespondenceGrouping<PointModelT, PointSceneT>::input_;
00132       using CorrespondenceGrouping<PointModelT, PointSceneT>::scene_;
00133       using CorrespondenceGrouping<PointModelT, PointSceneT>::model_scene_corrs_;
00134 
00135       /** \brief Minimum cluster size. It shouldn't be less than 3, since at least 3 correspondences are needed to compute the 6DOF pose */
00136       int gc_threshold_;
00137 
00138       /** \brief Resolution of the consensus set used to cluster correspondences together*/
00139       double gc_size_;
00140 
00141       /** \brief Transformations found by clusterCorrespondences method. */
00142       std::vector<Eigen::Matrix4f, Eigen::aligned_allocator<Eigen::Matrix4f> > found_transformations_;
00143 
00144       /** \brief Cluster the input correspondences in order to distinguish between different instances of the model into the scene.
00145         * 
00146         * \param[out] model_instances a vector containing the clustered correspondences for each model found on the scene.
00147         * \return true if the clustering had been successful or false if errors have occurred.
00148         */ 
00149       void
00150       clusterCorrespondences (std::vector<Correspondences> &model_instances);
00151   };
00152 }
00153 
00154 #ifdef PCL_NO_PRECOMPILE
00155 #include <pcl/recognition/impl/cg/geometric_consistency.hpp>
00156 #endif
00157 
00158 #endif // PCL_RECOGNITION_GEOMETRIC_CONSISTENCY_H_