40 #ifndef PCL_RECOGNITION_HOUGH_3D_H_ 41 #define PCL_RECOGNITION_HOUGH_3D_H_ 43 #include <pcl/recognition/cg/correspondence_grouping.h> 44 #include <pcl/recognition/boost.h> 60 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
68 HoughSpace3D (
const Eigen::Vector3d &min_coord,
const Eigen::Vector3d &bin_size,
const Eigen::Vector3d &max_coord);
82 vote (
const Eigen::Vector3d &single_vote_coord,
double weight,
int voter_id);
92 voteInt (
const Eigen::Vector3d &single_vote_coord,
double weight,
int voter_id);
103 findMaxima (
double min_threshold, std::vector<double> & maxima_values, std::vector<std::vector<int> > &maxima_voter_ids);
117 int partial_bin_products_[4];
144 template<
typename Po
intModelT,
typename Po
intSceneT,
typename Po
intModelRfT = pcl::ReferenceFrame,
typename Po
intSceneRfT = pcl::ReferenceFrame>
424 recognize (std::vector<Eigen::Matrix4f, Eigen::aligned_allocator<Eigen::Matrix4f> > &transformations);
434 recognize (std::vector<Eigen::Matrix4f, Eigen::aligned_allocator<Eigen::Matrix4f> > &transformations, std::vector<pcl::Correspondences> &clustered_corrs);
451 std::vector<Eigen::Vector3f, Eigen::aligned_allocator<Eigen::Vector3f> >
model_votes_;
509 template<
typename Po
intType,
typename Po
intRfType>
void 514 #ifdef PCL_NO_PRECOMPILE 515 #include <pcl/recognition/impl/cg/hough_3d.hpp> 518 #endif // PCL_RECOGNITION_HOUGH_3D_H_ boost::unordered_map< int, std::vector< int > > voter_ids_
List of voters for each bin.
Eigen::Vector3i bin_count_
Number of bins for each dimension.
ModelRfCloud::ConstPtr ModelRfCloudConstPtr
bool train()
Call this function after setting the input, the input_rf and the hough_bin_size parameters to perform...
std::vector< double > hough_space_
The Hough Space.
float getLocalRfSearchRadius() const
If the Local reference frame has not been set for either the model cloud or the scene cloud,...
pcl::PointCloud< PointSceneRfT > SceneRfCloud
int total_bins_count_
Total number of bins in the Hough Space.
void setUseDistanceWeight(bool use_distance_weight)
Sets whether the vote casting procedure uses the correspondence's distance as a score.
void setModelSceneCorrespondences(const CorrespondencesConstPtr &corrs)
Provide a pointer to the precomputed correspondences between points in the input dataset and points i...
SceneRfCloud::Ptr SceneRfCloudPtr
void computeRf(const boost::shared_ptr< const pcl::PointCloud< PointType > > &input, pcl::PointCloud< PointRfType > &rf)
Computes the reference frame for an input cloud.
SceneRfCloudConstPtr scene_rf_
The scene Rf cloud.
pcl::PointCloud< PointModelT > PointCloud
bool getUseInterpolation() const
Gets whether the vote casting procedure interpolates the score between neighboring bins of the Hough ...
SceneRfCloud::ConstPtr SceneRfCloudConstPtr
void setLocalRfNormalsSearchRadius(float local_rf_normals_search_radius)
If the Local reference frame has not been set for either the model cloud or the scene cloud,...
bool houghVoting()
The Hough space voting procedure.
boost::shared_ptr< pcl::recognition::HoughSpace3D > hough_space_
The Hough space.
float getLocalRfNormalsSearchRadius() const
If the Local reference frame has not been set for either the model cloud or the scene cloud,...
float local_rf_normals_search_radius_
Normals search radius for the potential Rf calculation.
bool recognize(std::vector< Eigen::Matrix4f, Eigen::aligned_allocator< Eigen::Matrix4f > > &transformations)
The main function, recognizes instances of the model into the scene set by the user.
double getHoughThreshold() const
Gets the minimum number of votes in the Hough space needed to infer the presence of a model instance ...
bool hough_space_initialized_
Whether the Hough space already contains the correct votes for the current input parameters and so th...
Eigen::Vector3d bin_size_
Size of each bin in the Hough Space.
boost::shared_ptr< PointCloud< PointT > > Ptr
double getHoughBinSize() const
Gets the size of each bin into the Hough space.
ModelRfCloudConstPtr getInputRf() const
Getter for the input dataset's reference frames.
bool use_distance_weight_
Use the weighted correspondence distance when casting votes.
void setInputRf(const ModelRfCloudConstPtr &input_rf)
Provide a pointer to the input dataset's reference frames.
PointCloud::ConstPtr PointCloudConstPtr
SceneRfCloudConstPtr getSceneRf() const
Getter for the scene dataset's reference frames.
bool needs_training_
If the training of the Hough space is needed; set on change of either the input cloud or the input_rf...
boost::shared_ptr< const Correspondences > CorrespondencesConstPtr
Defines all the PCL implemented PointT point type structures.
ModelRfCloud::Ptr ModelRfCloudPtr
CorrespondencesConstPtr model_scene_corrs_
The correspondences between points in the input and the scene datasets.
Hough3DGrouping()
Constructor.
void clusterCorrespondences(std::vector< Correspondences > &model_instances)
Cluster the input correspondences in order to distinguish between different instances of the model in...
ModelRfCloudConstPtr input_rf_
The input Rf cloud.
void setInputCloud(const PointCloudConstPtr &cloud)
Provide a pointer to the input dataset.
boost::shared_ptr< const PointCloud< PointT > > ConstPtr
pcl::CorrespondenceGrouping< PointModelT, PointSceneT >::SceneCloudConstPtr SceneCloudConstPtr
bool use_interpolation_
Use the interpolation between neighboring Hough bins when casting votes.
Class implementing a 3D correspondence grouping algorithm that can deal with multiple instances of a ...
PointCloud represents the base class in PCL for storing collections of 3D points.
void setSceneCloud(const SceneCloudConstPtr &scene)
Provide a pointer to the scene dataset (i.e.
SceneCloud::ConstPtr SceneCloudConstPtr
Abstract base class for Correspondence Grouping algorithms.
float local_rf_search_radius_
Search radius for the potential Rf calculation.
virtual void setInputCloud(const PointCloudConstPtr &cloud)
Provide a pointer to the input dataset.
SceneCloudConstPtr scene_
The scene cloud.
double hough_threshold_
The minimum number of votes in the Hough space needed to infer the presence of a model instance into ...
bool getUseDistanceWeight() const
Gets whether the vote casting procedure uses the correspondence's distance as a score.
void setHoughThreshold(double threshold)
Sets the minimum number of votes in the Hough space needed to infer the presence of a model instance ...
Eigen::Vector3d min_coord_
Minimum coordinate in the Hough Space.
std::vector< Eigen::Vector3f, Eigen::aligned_allocator< Eigen::Vector3f > > model_votes_
The result of the training.
pcl::PointCloud< PointModelRfT > ModelRfCloud
std::vector< Eigen::Matrix4f, Eigen::aligned_allocator< Eigen::Matrix4f > > found_transformations_
Transformations found by clusterCorrespondences method.
void setUseInterpolation(bool use_interpolation)
Sets whether the vote casting procedure interpolates the score between neighboring bins of the Hough ...
double hough_bin_size_
The size of each bin of the hough space.
HoughSpace3D is a 3D voting space.
void setLocalRfSearchRadius(float local_rf_search_radius)
If the Local reference frame has not been set for either the model cloud or the scene cloud,...
void setSceneRf(const SceneRfCloudConstPtr &scene_rf)
Provide a pointer to the scene dataset's reference frames.
PointCloud::Ptr PointCloudPtr
void setHoughBinSize(double bin_size)
Sets the size of each bin into the Hough space.