41 #ifndef PCL_REGISTRATION_SAMPLE_CONSENSUS_PREREJECTIVE_H_
42 #define PCL_REGISTRATION_SAMPLE_CONSENSUS_PREREJECTIVE_H_
44 #include <pcl/registration/registration.h>
45 #include <pcl/registration/transformation_estimation_svd.h>
46 #include <pcl/registration/transformation_validation.h>
47 #include <pcl/registration/correspondence_rejection_poly.h>
76 template <
typename Po
intSource,
typename Po
intTarget,
typename FeatureT>
108 typedef boost::shared_ptr<SampleConsensusPrerejective<PointSource, PointTarget, FeatureT> >
Ptr;
109 typedef boost::shared_ptr<const SampleConsensusPrerejective<PointSource, PointTarget, FeatureT> >
ConstPtr;
127 reg_name_ =
"SampleConsensusPrerejective";
237 inline const std::vector<int>&
250 return (static_cast<int> (n * (rand () / (RAND_MAX + 1.0))));
261 std::vector<int> &sample_indices);
272 std::vector<int> &corresponding_indices);
289 getFitness (std::vector<int>& inliers,
float& fitness_score);
317 #include <pcl/registration/impl/sample_consensus_prerejective.hpp>