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