1 #ifndef OBJECT_RECOGNITION_H_
2 #define OBJECT_RECOGNITION_H_
6 #include "solution/filters.h"
7 #include "solution/segmentation.h"
8 #include "solution/feature_estimation.h"
9 #include "solution/registration.h"
11 #include <pcl/io/pcd_io.h>
12 #include <pcl/kdtree/kdtree_flann.h>
88 SurfaceNormalsPtr normals;
104 std::vector<pcl::PointIndices> cluster_indices;
108 PointCloudPtr largest_cluster (
new PointCloud);
111 return (largest_cluster);
117 SurfaceNormalsPtr & normals_out, PointCloudPtr & keypoints_out,
118 LocalDescriptorsPtr & local_descriptors_out, GlobalDescriptorsPtr & global_descriptor_out)
const
125 local_descriptors_out = computeLocalDescriptors (points, normals_out, keypoints_out,
128 global_descriptor_out = computeGlobalDescriptor (points, normals_out);
136 Eigen::Matrix4f tform;
143 tform = refineAlignment (source.
points, target.
points, tform,
154 std::vector<ObjectModel>
models_;