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HoughSpace3D is a 3D voting space. More...

#include <pcl/recognition/cg/hough_3d.h>

Public Types
using	Ptr = shared_ptr< HoughSpace3D >

using	ConstPtr = shared_ptr< const HoughSpace3D >

Public Member Functions
	HoughSpace3D (const Eigen::Vector3d &min_coord, const Eigen::Vector3d &bin_size, const Eigen::Vector3d &max_coord)
	Constructor. More...

void	reset ()
	Reset all cast votes. More...

int	vote (const Eigen::Vector3d &single_vote_coord, double weight, int voter_id)
	Casting a vote for a given position in the Hough space. More...

int	voteInt (const Eigen::Vector3d &single_vote_coord, double weight, int voter_id)
	Vote for a given position in the 3D space. More...

double	findMaxima (double min_threshold, std::vector< double > &maxima_values, std::vector< std::vector< int > > &maxima_voter_ids)
	Find the bins with most votes. More...

Protected Attributes
Eigen::Vector3d	min_coord_
	Minimum coordinate in the Hough Space. More...

Eigen::Vector3d	bin_size_
	Size of each bin in the Hough Space. More...

Eigen::Vector3i	bin_count_
	Number of bins for each dimension. More...

int	partial_bin_products_ [4]
	Used to access hough_space_ as if it was a matrix. More...

int	total_bins_count_
	Total number of bins in the Hough Space. More...

std::vector< double >	hough_space_
	The Hough Space. More...

std::unordered_map< int, std::vector< int > >	voter_ids_
	List of voters for each bin. More...

Detailed Description

HoughSpace3D is a 3D voting space.

Cast votes can be interpolated in order to better deal with approximations introduced by bin quantization. A weight can also be associated with each vote.

Author: Federico Tombari (original), Tommaso Cavallari (PCL port)

Definition at line 57 of file hough_3d.h.

Member Typedef Documentation

ConstPtr

using pcl::recognition::HoughSpace3D::ConstPtr = shared_ptr<const HoughSpace3D>

Definition at line 64 of file hough_3d.h.

Ptr

using pcl::recognition::HoughSpace3D::Ptr = shared_ptr<HoughSpace3D>

Definition at line 63 of file hough_3d.h.

Constructor & Destructor Documentation

HoughSpace3D()

pcl::recognition::HoughSpace3D::HoughSpace3D	(	const Eigen::Vector3d &	min_coord,
		const Eigen::Vector3d &	bin_size,
		const Eigen::Vector3d &	max_coord
	)

Constructor.

Parameters

[in]	min_coord	minimum (x,y,z) coordinates of the Hough space
[in]	bin_size	size of each bing of the Hough space.
[in]	max_coord	maximum (x,y,z) coordinates of the Hough space.

Member Function Documentation

findMaxima()

double pcl::recognition::HoughSpace3D::findMaxima	(	double	min_threshold,
		std::vector< double > &	maxima_values,
		std::vector< std::vector< int > > &	maxima_voter_ids
	)

Find the bins with most votes.

Parameters

[in]	min_threshold	the minimum number of votes to be included in a bin in order to have its value returned. If set to a value between -1 and 0 the Hough space maximum_vote is found and the returned values are all the votes greater than -min_threshold * maximum_vote.
[out]	maxima_values	the list of Hough Space bin values greater than min_threshold.
[out]	maxima_voter_ids	for each value returned, a list of the voter ids who cast a vote in that position.

Returns: The min_threshold used, either set by the user or found by this method.

reset()

void pcl::recognition::HoughSpace3D::reset ( )

Reset all cast votes.

vote()

int pcl::recognition::HoughSpace3D::vote	(	const Eigen::Vector3d &	single_vote_coord,
		double	weight,
		int	voter_id
	)

Casting a vote for a given position in the Hough space.

Parameters

[in]	single_vote_coord	coordinates of the vote being cast (in absolute coordinates)
[in]	weight	weight associated with the vote.
[in]	voter_id	the numeric id of the voter. Useful to trace back the voting correspondence, if the vote is returned by findMaxima as part of a maximum of the Hough Space.

Returns: the index of the bin in which the vote has been cast.

voteInt()

int pcl::recognition::HoughSpace3D::voteInt	(	const Eigen::Vector3d &	single_vote_coord,
		double	weight,
		int	voter_id
	)

Vote for a given position in the 3D space.

The weight is interpolated between the bin pointed by single_vote_coord and its neighbors.

Parameters

[in]	single_vote_coord	coordinates of the vote being cast.
[in]	weight	weight associated with the vote.
[in]	voter_id	the numeric id of the voter. Useful to trace back the voting correspondence, if the vote is returned by findMaxima as a part of a maximum of the Hough Space.

Returns: the index of the bin in which the vote has been cast.

Member Data Documentation

bin_count_

Eigen::Vector3i pcl::recognition::HoughSpace3D::bin_count_

protected

Number of bins for each dimension.

Definition at line 118 of file hough_3d.h.

bin_size_

Eigen::Vector3d pcl::recognition::HoughSpace3D::bin_size_

protected

Size of each bin in the Hough Space.

Definition at line 115 of file hough_3d.h.

hough_space_

std::vector<double> pcl::recognition::HoughSpace3D::hough_space_

protected

The Hough Space.

Definition at line 127 of file hough_3d.h.

min_coord_

Eigen::Vector3d pcl::recognition::HoughSpace3D::min_coord_

protected

Minimum coordinate in the Hough Space.

Definition at line 112 of file hough_3d.h.

partial_bin_products_

int pcl::recognition::HoughSpace3D::partial_bin_products_[4]

protected

Used to access hough_space_ as if it was a matrix.

Definition at line 121 of file hough_3d.h.

total_bins_count_

int pcl::recognition::HoughSpace3D::total_bins_count_

protected

Total number of bins in the Hough Space.

Definition at line 124 of file hough_3d.h.

voter_ids_

std::unordered_map<int, std::vector<int> > pcl::recognition::HoughSpace3D::voter_ids_

protected

List of voters for each bin.

Definition at line 130 of file hough_3d.h.

The documentation for this class was generated from the following file:

pcl/recognition/cg/hough_3d.h

© 2009–2012, Willow Garage, Inc.
© 2012–, Open Perception, Inc.
Licensed under the BSD License.
https://pointclouds.org/documentation/classpcl_1_1recognition_1_1_hough_space3_d.html

Public Types

Public Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

ConstPtr

Ptr

Constructor & Destructor Documentation

HoughSpace3D()

Member Function Documentation

findMaxima()

reset()

vote()

voteInt()

Member Data Documentation

bin_count_

bin_size_

hough_space_

min_coord_

partial_bin_products_

total_bins_count_

voter_ids_