Point Cloud Library (PCL)
1.9.1
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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_
ModelRfCloudConstPtr getInputRf() const
Getter for the input dataset's reference frames.
bool use_distance_weight_
Use the weighted correspondence distance when casting votes.
This file defines compatibility wrappers for low level I/O functions.
boost::shared_ptr< PointCloud< PointT > > Ptr
SceneRfCloudConstPtr getSceneRf() const
Getter for the scene dataset's reference frames.
bool getUseDistanceWeight() const
Gets whether the vote casting procedure uses the correspondence's distance as a score.
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.
PointCloud::Ptr PointCloudPtr
bool use_interpolation_
Use the interpolation between neighboring Hough bins when casting votes.
void computeRf(const boost::shared_ptr< const pcl::PointCloud< PointType > > &input, pcl::PointCloud< PointRfType > &rf)
Computes the reference frame for an input cloud.
double getHoughBinSize() const
Gets the size of each bin into the Hough space.
void setInputCloud(const PointCloudConstPtr &cloud)
Provide a pointer to the input dataset.
bool train()
Call this function after setting the input, the input_rf and the hough_bin_size parameters to perform...
HoughSpace3D is a 3D voting space.
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 setInputRf(const ModelRfCloudConstPtr &input_rf)
Provide a pointer to the input dataset's reference frames.
pcl::PointCloud< PointModelT > PointCloud
bool getUseInterpolation() const
Gets whether the vote casting procedure interpolates the score between neighboring bins of the Hough ...
virtual void setInputCloud(const PointCloudConstPtr &cloud)
Provide a pointer to the input dataset.
SceneRfCloudConstPtr scene_rf_
The scene Rf cloud.
double getHoughThreshold() const
Gets the minimum number of votes in the Hough space needed to infer the presence of a model instance ...
ModelRfCloud::ConstPtr ModelRfCloudConstPtr
pcl::PointCloud< PointSceneRfT > SceneRfCloud
ModelRfCloudConstPtr input_rf_
The input Rf cloud.
SceneRfCloud::Ptr SceneRfCloudPtr
void clusterCorrespondences(std::vector< Correspondences > &model_instances)
Cluster the input correspondences in order to distinguish between different instances of the model in...
SceneRfCloud::ConstPtr SceneRfCloudConstPtr
SceneCloud::ConstPtr SceneCloudConstPtr
bool houghVoting()
The Hough space voting procedure.
Eigen::Vector3i bin_count_
Number of bins for each dimension.
float getLocalRfSearchRadius() const
If the Local reference frame has not been set for either the model cloud or the scene cloud,...
boost::unordered_map< int, std::vector< int > > voter_ids_
List of voters for each bin.
Eigen::Vector3d min_coord_
Minimum coordinate in the Hough Space.
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 needs_training_
If the training of the Hough space is needed; set on change of either the input cloud or the input_rf...
float local_rf_normals_search_radius_
Normals search radius for the potential Rf calculation.
double hough_bin_size_
The size of each bin of the hough space.
SceneCloudConstPtr scene_
The scene cloud.
void setHoughThreshold(double threshold)
Sets the minimum number of votes in the Hough space needed to infer the presence of a model instance ...
float local_rf_search_radius_
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.
PointCloud::ConstPtr PointCloudConstPtr
boost::shared_ptr< const Correspondences > CorrespondencesConstPtr
CorrespondencesConstPtr model_scene_corrs_
The correspondences between points in the input and the scene datasets.
Eigen::Vector3d bin_size_
Size of each bin in the Hough Space.
Abstract base class for Correspondence Grouping algorithms.
boost::shared_ptr< const PointCloud< PointT > > ConstPtr
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,...
std::vector< double > hough_space_
The Hough Space.
bool hough_space_initialized_
Whether the Hough space already contains the correct votes for the current input parameters and so th...
pcl::CorrespondenceGrouping< PointModelT, PointSceneT >::SceneCloudConstPtr SceneCloudConstPtr
int total_bins_count_
Total number of bins in the Hough Space.
void setUseInterpolation(bool use_interpolation)
Sets whether the vote casting procedure interpolates the score between neighboring bins of the Hough ...
Hough3DGrouping()
Constructor.
boost::shared_ptr< pcl::recognition::HoughSpace3D > hough_space_
The Hough space.
void setSceneCloud(const SceneCloudConstPtr &scene)
Provide a pointer to the scene dataset (i.e.
ModelRfCloud::Ptr ModelRfCloudPtr
void setSceneRf(const SceneRfCloudConstPtr &scene_rf)
Provide a pointer to the scene dataset's reference frames.
float getLocalRfNormalsSearchRadius() const
If the Local reference frame has not been set for either the model cloud or the scene cloud,...
void setUseDistanceWeight(bool use_distance_weight)
Sets whether the vote casting procedure uses the correspondence's distance as a score.
void setHoughBinSize(double bin_size)
Sets the size of each bin into the Hough space.
double hough_threshold_
The minimum number of votes in the Hough space needed to infer the presence of a model instance into ...
void setModelSceneCorrespondences(const CorrespondencesConstPtr &corrs)
Provide a pointer to the precomputed correspondences between points in the input dataset and points i...