Point Cloud Library (PCL)
1.7.0
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00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Point Cloud Library (PCL) - www.pointclouds.org 00005 * Copyright (c) 2010-2012, Willow Garage, Inc. 00006 * 00007 * All rights reserved. 00008 * 00009 * Redistribution and use in source and binary forms, with or without 00010 * modification, are permitted provided that the following conditions 00011 * are met: 00012 * 00013 * * Redistributions of source code must retain the above copyright 00014 * notice, this list of conditions and the following disclaimer. 00015 * * Redistributions in binary form must reproduce the above 00016 * copyright notice, this list of conditions and the following 00017 * disclaimer in the documentation and/or other materials provided 00018 * with the distribution. 00019 * * Neither the name of Willow Garage, Inc. nor the names of its 00020 * contributors may be used to endorse or promote products derived 00021 * from this software without specific prior written permission. 00022 * 00023 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00024 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00025 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00026 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00027 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00028 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00029 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00030 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00031 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00032 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00033 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00034 * POSSIBILITY OF SUCH DAMAGE. 00035 * 00036 * $Id$ 00037 * 00038 */ 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_