39 #ifndef PCL_SAMPLE_CONSENSUS_MODEL_REGISTRATION_2D_H_
40 #define PCL_SAMPLE_CONSENSUS_MODEL_REGISTRATION_2D_H_
42 #include <pcl/sample_consensus/sac_model_registration.h>
50 template <
typename Po
intT>
67 typedef boost::shared_ptr<SampleConsensusModelRegistration2D>
Ptr;
68 typedef boost::shared_ptr<const SampleConsensusModelRegistration2D>
ConstPtr;
77 , projection_matrix_ (Eigen::Matrix3f::Identity ())
89 const std::vector<int> &indices,
92 , projection_matrix_ (Eigen::Matrix3f::Identity ())
107 std::vector<double> &distances);
116 const double threshold,
117 std::vector<int> &inliers);
127 const double threshold);
134 { projection_matrix_ = projection_matrix; }
137 inline Eigen::Matrix3f
139 {
return (projection_matrix_); }
183 const std::vector<int> &indices)
207 Eigen::Matrix3f projection_matrix_;
210 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
214 #include <pcl/sample_consensus/impl/sac_model_registration_2d.hpp>
216 #endif // PCL_SAMPLE_CONSENSUS_MODEL_REGISTRATION_2D_H_