SampleConsensusModelRegistration2D defines a model for Point-To-Point registration outlier rejection using distances between 2D pixels. More...
#include <pcl/sample_consensus/sac_model_registration_2d.h>
Public Member Functions |
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| SampleConsensusModelRegistration2D (const PointCloudConstPtr &cloud, bool random=false) | |
| Constructor for base SampleConsensusModelRegistration2D. More... |
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| SampleConsensusModelRegistration2D (const PointCloudConstPtr &cloud, const Indices &indices, bool random=false) | |
| Constructor for base SampleConsensusModelRegistration2D. More... |
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| virtual | ~SampleConsensusModelRegistration2D () |
| Empty destructor. More... |
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| void | getDistancesToModel (const Eigen::VectorXf &model_coefficients, std::vector< double > &distances) const |
| Compute all distances from the transformed points to their correspondences. More... |
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| void | selectWithinDistance (const Eigen::VectorXf &model_coefficients, const double threshold, Indices &inliers) |
| Select all the points which respect the given model coefficients as inliers. More... |
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| virtual std::size_t | countWithinDistance (const Eigen::VectorXf &model_coefficients, const double threshold) const |
| Count all the points which respect the given model coefficients as inliers. More... |
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| void | setProjectionMatrix (const Eigen::Matrix3f &projection_matrix) |
| Set the camera projection matrix. More... |
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| Eigen::Matrix3f | getProjectionMatrix () const |
| Get the camera projection matrix. More... |
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 Public Member Functions inherited from pcl::SampleConsensusModelRegistration< PointT > |
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| SampleConsensusModelRegistration (const PointCloudConstPtr &cloud, bool random=false) | |
| Constructor for base SampleConsensusModelRegistration. More... |
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| SampleConsensusModelRegistration (const PointCloudConstPtr &cloud, const Indices &indices, bool random=false) | |
| Constructor for base SampleConsensusModelRegistration. More... |
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| ~SampleConsensusModelRegistration () | |
| Empty destructor. More... |
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| void | setInputCloud (const PointCloudConstPtr &cloud) override |
| Provide a pointer to the input dataset. More... |
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| void | setInputTarget (const PointCloudConstPtr &target) |
| Set the input point cloud target. More... |
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| void | setInputTarget (const PointCloudConstPtr &target, const Indices &indices_tgt) |
| Set the input point cloud target. More... |
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| bool | computeModelCoefficients (const Indices &samples, Eigen::VectorXf &model_coefficients) const override |
| Compute a 4x4 rigid transformation matrix from the samples given. More... |
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| void | optimizeModelCoefficients (const Indices &inliers, const Eigen::VectorXf &model_coefficients, Eigen::VectorXf &optimized_coefficients) const override |
| Recompute the 4x4 transformation using the given inlier set. More... |
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| void | projectPoints (const Indices &, const Eigen::VectorXf &, PointCloud &, bool=true) const override |
| Create a new point cloud with inliers projected onto the model. More... |
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| bool | doSamplesVerifyModel (const std::set< index_t > &, const Eigen::VectorXf &, const double) const override |
| Verify whether a subset of indices verifies a given set of model coefficients. More... |
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| pcl::SacModel | getModelType () const override |
| Return a unique id for this model (SACMODEL_REGISTRATION). More... |
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| Public Member Functions inherited from pcl::SampleConsensusModel< PointT > |
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| SampleConsensusModel (const PointCloudConstPtr &cloud, bool random=false) | |
| Constructor for base SampleConsensusModel. More... |
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| SampleConsensusModel (const PointCloudConstPtr &cloud, const Indices &indices, bool random=false) | |
| Constructor for base SampleConsensusModel. More... |
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| virtual | ~SampleConsensusModel () |
| Destructor for base SampleConsensusModel. More... |
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| virtual void | getSamples (int &iterations, Indices &samples) |
| Get a set of random data samples and return them as point indices. More... |
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| virtual void | setInputCloud (const PointCloudConstPtr &cloud) |
| Provide a pointer to the input dataset. More... |
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| PointCloudConstPtr | getInputCloud () const |
| Get a pointer to the input point cloud dataset. More... |
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| void | setIndices (const IndicesPtr &indices) |
| Provide a pointer to the vector of indices that represents the input data. More... |
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| void | setIndices (const Indices &indices) |
| Provide the vector of indices that represents the input data. More... |
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| IndicesPtr | getIndices () const |
| Get a pointer to the vector of indices used. More... |
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| const std::string & | getClassName () const |
| Get a string representation of the name of this class. More... |
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| unsigned int | getSampleSize () const |
| Return the size of a sample from which the model is computed. More... |
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| unsigned int | getModelSize () const |
| Return the number of coefficients in the model. More... |
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| void | setRadiusLimits (const double &min_radius, const double &max_radius) |
| Set the minimum and maximum allowable radius limits for the model (applicable to models that estimate a radius) More... |
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| void | getRadiusLimits (double &min_radius, double &max_radius) const |
| Get the minimum and maximum allowable radius limits for the model as set by the user. More... |
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| void | setModelConstraints (std::function< bool(const Eigen::VectorXf &)> function) |
| This can be used to impose any kind of constraint on the model, e.g. More... |
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| void | setSamplesMaxDist (const double &radius, SearchPtr search) |
| Set the maximum distance allowed when drawing random samples. More... |
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| void | getSamplesMaxDist (double &radius) const |
| Get maximum distance allowed when drawing random samples. More... |
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| double | computeVariance (const std::vector< double > &error_sqr_dists) const |
| Compute the variance of the errors to the model. More... |
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| double | computeVariance () const |
| Compute the variance of the errors to the model from the internally estimated vector of distances. More... |
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Protected Member Functions |
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| bool | isSampleGood (const Indices &samples) const |
| Check if a sample of indices results in a good sample of points indices. More... |
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| void | computeSampleDistanceThreshold (const PointCloudConstPtr &) |
| Computes an "optimal" sample distance threshold based on the principal directions of the input cloud. More... |
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| void | computeSampleDistanceThreshold (const PointCloudConstPtr &, const Indices &) |
| Computes an "optimal" sample distance threshold based on the principal directions of the input cloud. More... |
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| Protected Member Functions inherited from pcl::SampleConsensusModelRegistration< PointT > |
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| void | computeSampleDistanceThreshold (const PointCloudConstPtr &cloud) |
| Computes an "optimal" sample distance threshold based on the principal directions of the input cloud. More... |
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| void | computeSampleDistanceThreshold (const PointCloudConstPtr &cloud, const Indices &indices) |
| Computes an "optimal" sample distance threshold based on the principal directions of the input cloud. More... |
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| void | estimateRigidTransformationSVD (const pcl::PointCloud< PointT > &cloud_src, const Indices &indices_src, const pcl::PointCloud< PointT > &cloud_tgt, const Indices &indices_tgt, Eigen::VectorXf &transform) const |
| Estimate a rigid transformation between a source and a target point cloud using an SVD closed-form solution of absolute orientation using unit quaternions. More... |
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| void | computeOriginalIndexMapping () |
| Compute mappings between original indices of the input_/target_ clouds. More... |
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| Protected Member Functions inherited from pcl::SampleConsensusModel< PointT > |
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| SampleConsensusModel (bool random=false) | |
| Empty constructor for base SampleConsensusModel. More... |
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| void | drawIndexSample (Indices &sample) |
| Fills a sample array with random samples from the indices_ vector. More... |
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| void | drawIndexSampleRadius (Indices &sample) |
| Fills a sample array with one random sample from the indices_ vector and other random samples that are closer than samples_radius_. More... |
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| virtual bool | isModelValid (const Eigen::VectorXf &model_coefficients) const |
| Check whether a model is valid given the user constraints. More... |
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| int | rnd () |
| Boost-based random number generator. More... |
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Additional Inherited Members |
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| Protected Attributes inherited from pcl::SampleConsensusModelRegistration< PointT > |
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| PointCloudConstPtr | target_ |
| A boost shared pointer to the target point cloud data array. More... |
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| IndicesPtr | indices_tgt_ |
| A pointer to the vector of target point indices to use. More... |
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| std::map< index_t, index_t > | correspondences_ |
| Given the index in the original point cloud, give the matching original index in the target cloud. More... |
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| double | sample_dist_thresh_ |
| Internal distance threshold used for the sample selection step. More... |
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| Protected Attributes inherited from pcl::SampleConsensusModel< PointT > |
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| std::string | model_name_ |
| The model name. More... |
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| PointCloudConstPtr | input_ |
| A boost shared pointer to the point cloud data array. More... |
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| IndicesPtr | indices_ |
| A pointer to the vector of point indices to use. More... |
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| double | radius_min_ |
| The minimum and maximum radius limits for the model. More... |
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| double | radius_max_ |
| double | samples_radius_ |
| The maximum distance of subsequent samples from the first (radius search) More... |
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| SearchPtr | samples_radius_search_ |
| The search object for picking subsequent samples using radius search. More... |
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| Indices | shuffled_indices_ |
| Data containing a shuffled version of the indices. More... |
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| boost::mt19937 | rng_alg_ |
| Boost-based random number generator algorithm. More... |
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| std::shared_ptr< boost::uniform_int<> > | rng_dist_ |
| Boost-based random number generator distribution. More... |
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| std::shared_ptr< boost::variate_generator< boost::mt19937 &, boost::uniform_int<> > > | rng_gen_ |
| Boost-based random number generator. More... |
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| std::vector< double > | error_sqr_dists_ |
| A vector holding the distances to the computed model. More... |
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| unsigned int | sample_size_ |
| The size of a sample from which the model is computed. More... |
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| unsigned int | model_size_ |
| The number of coefficients in the model. More... |
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| std::function< bool(const Eigen::VectorXf &)> | custom_model_constraints_ |
| A user defined function that takes model coefficients and returns whether the model is acceptable or not. More... |
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| Static Protected Attributes inherited from pcl::SampleConsensusModel< PointT > |
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| static const unsigned int | max_sample_checks_ = 1000 |
| The maximum number of samples to try until we get a good one. More... |
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Detailed Description
template<typename PointT>
class pcl::SampleConsensusModelRegistration2D< PointT >
SampleConsensusModelRegistration2D defines a model for Point-To-Point registration outlier rejection using distances between 2D pixels.
Definition at line 52 of file sac_model_registration_2d.h.
Member Typedef Documentation
ConstPtr
template<typename PointT >
| using pcl::SampleConsensusModelRegistration2D< PointT >::ConstPtr = shared_ptr<const SampleConsensusModelRegistration2D<PointT> > |
Definition at line 71 of file sac_model_registration_2d.h.
PointCloud
template<typename PointT >
| using pcl::SampleConsensusModelRegistration2D< PointT >::PointCloud = typename pcl::SampleConsensusModel<PointT>::PointCloud |
Definition at line 66 of file sac_model_registration_2d.h.
PointCloudConstPtr
template<typename PointT >
| using pcl::SampleConsensusModelRegistration2D< PointT >::PointCloudConstPtr = typename pcl::SampleConsensusModel<PointT>::PointCloudConstPtr |
Definition at line 68 of file sac_model_registration_2d.h.
PointCloudPtr
template<typename PointT >
| using pcl::SampleConsensusModelRegistration2D< PointT >::PointCloudPtr = typename pcl::SampleConsensusModel<PointT>::PointCloudPtr |
Definition at line 67 of file sac_model_registration_2d.h.
Ptr
template<typename PointT >
| using pcl::SampleConsensusModelRegistration2D< PointT >::Ptr = shared_ptr<SampleConsensusModelRegistration2D<PointT> > |
Definition at line 70 of file sac_model_registration_2d.h.
Constructor & Destructor Documentation
SampleConsensusModelRegistration2D() [1/2]
template<typename PointT >
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inline |
Constructor for base SampleConsensusModelRegistration2D.
- Parameters
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[in] cloud the input point cloud dataset [in] random if true set the random seed to the current time, else set to 12345 (default: false)
Definition at line 77 of file sac_model_registration_2d.h.
References pcl::SampleConsensusModel< PointT >::model_name_, pcl::SampleConsensusModel< PointT >::model_size_, pcl::SampleConsensusModel< PointT >::sample_size_, and pcl::SampleConsensusModelRegistration< PointT >::setInputCloud().
SampleConsensusModelRegistration2D() [2/2]
template<typename PointT >
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inline |
Constructor for base SampleConsensusModelRegistration2D.
- Parameters
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[in] cloud the input point cloud dataset [in] indices a vector of point indices to be used from cloud [in] random if true set the random seed to the current time, else set to 12345 (default: false)
Definition at line 94 of file sac_model_registration_2d.h.
References pcl::SampleConsensusModelRegistration< PointT >::computeOriginalIndexMapping(), pcl::SampleConsensusModelRegistration2D< PointT >::computeSampleDistanceThreshold(), pcl::SampleConsensusModel< PointT >::model_name_, pcl::SampleConsensusModel< PointT >::model_size_, and pcl::SampleConsensusModel< PointT >::sample_size_.
~SampleConsensusModelRegistration2D()
template<typename PointT >
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inlinevirtual |
Empty destructor.
Definition at line 108 of file sac_model_registration_2d.h.
Member Function Documentation
computeSampleDistanceThreshold() [1/2]
template<typename PointT >
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inlineprotected |
Computes an "optimal" sample distance threshold based on the principal directions of the input cloud.
Definition at line 165 of file sac_model_registration_2d.h.
Referenced by pcl::SampleConsensusModelRegistration2D< PointT >::SampleConsensusModelRegistration2D().
computeSampleDistanceThreshold() [2/2]
template<typename PointT >
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inlineprotected |
Computes an "optimal" sample distance threshold based on the principal directions of the input cloud.
Definition at line 192 of file sac_model_registration_2d.h.
countWithinDistance()
template<typename PointT >
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virtual |
Count all the points which respect the given model coefficients as inliers.
- Parameters
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[in] model_coefficients the coefficients of a model that we need to compute distances to [in] threshold maximum admissible distance threshold for determining the inliers from the outliers
- Returns
- the resultant number of inliers
Reimplemented from pcl::SampleConsensusModelRegistration< PointT >.
Definition at line 181 of file sac_model_registration_2d.hpp.
getDistancesToModel()
template<typename PointT >
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virtual |
Compute all distances from the transformed points to their correspondences.
- Parameters
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[in] model_coefficients the 4x4 transformation matrix [out] distances the resultant estimated distances
Reimplemented from pcl::SampleConsensusModelRegistration< PointT >.
Definition at line 67 of file sac_model_registration_2d.hpp.
getProjectionMatrix()
template<typename PointT >
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inline |
Get the camera projection matrix.
Definition at line 147 of file sac_model_registration_2d.h.
isSampleGood()
template<typename PointT >
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protectedvirtual |
Check if a sample of indices results in a good sample of points indices.
- Parameters
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[in] samples the resultant index samples
Reimplemented from pcl::SampleConsensusModelRegistration< PointT >.
Definition at line 45 of file sac_model_registration_2d.hpp.
selectWithinDistance()
template<typename PointT >
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virtual |
Select all the points which respect the given model coefficients as inliers.
- Parameters
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[in] model_coefficients the 4x4 transformation matrix [in] threshold a maximum admissible distance threshold for determining the inliers from the outliers [out] inliers the resultant model inliers
Reimplemented from pcl::SampleConsensusModelRegistration< PointT >.
Definition at line 121 of file sac_model_registration_2d.hpp.
References pcl::geometry::distance().
setProjectionMatrix()
template<typename PointT >
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inline |
Set the camera projection matrix.
- Parameters
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[in] projection_matrix the camera projection matrix
Definition at line 142 of file sac_model_registration_2d.h.
Referenced by pcl::registration::CorrespondenceRejectorSampleConsensus2D< PointT >::getRemainingCorrespondences().
The documentation for this class was generated from the following files:
- pcl/sample_consensus/sac_model_registration_2d.h
- pcl/sample_consensus/impl/sac_model_registration_2d.hpp
© 2009–2012, Willow Garage, Inc.
© 2012–, Open Perception, Inc.
Licensed under the BSD License.
https://pointclouds.org/documentation/classpcl_1_1_sample_consensus_model_registration2_d.html
