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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

Definition at line 64 of file hough_3d.h.

Ptr

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:

© 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