42 #include <pcl/recognition/cg/correspondence_grouping.h>
43 #include <pcl/memory.h>
44 #include <pcl/pcl_macros.h>
45 #include <pcl/point_types.h>
47 #include <unordered_map>
63 using Ptr = shared_ptr<HoughSpace3D>;
64 using ConstPtr = shared_ptr<const HoughSpace3D>;
72 HoughSpace3D (
const Eigen::Vector3d &min_coord,
const Eigen::Vector3d &bin_size,
const Eigen::Vector3d &max_coord);
86 vote (
const Eigen::Vector3d &single_vote_coord,
double weight,
int voter_id);
96 voteInt (
const Eigen::Vector3d &single_vote_coord,
double weight,
int voter_id);
107 findMaxima (
double min_threshold, std::vector<double> & maxima_values, std::vector<std::vector<int> > &maxima_voter_ids);
121 int partial_bin_products_[4]{};
124 int total_bins_count_{0};
147 template<
typename Po
intModelT,
typename Po
intSceneT,
typename Po
intModelRfT = pcl::ReferenceFrame,
typename Po
intSceneRfT = pcl::ReferenceFrame>
416 recognize (std::vector<Eigen::Matrix4f, Eigen::aligned_allocator<Eigen::Matrix4f> > &transformations);
426 recognize (std::vector<Eigen::Matrix4f, Eigen::aligned_allocator<Eigen::Matrix4f> > &transformations, std::vector<pcl::Correspondences> &clustered_corrs);
443 std::vector<Eigen::Vector3f, Eigen::aligned_allocator<Eigen::Vector3f> >
model_votes_;
501 template<
typename Po
intType,
typename Po
intRfType>
void
506 #ifdef PCL_NO_PRECOMPILE
507 #include <pcl/recognition/impl/cg/hough_3d.hpp>
Eigen::Vector3i bin_count_
Number of bins for each dimension.
shared_ptr< const Correspondences > CorrespondencesConstPtr
shared_ptr< const HoughSpace3D > ConstPtr
bool train()
Call this function after setting the input, the input_rf and the hough_bin_size parameters to perform...
shared_ptr< PointCloud< PointT > > Ptr
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...
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.
typename ModelRfCloud::ConstPtr ModelRfCloudConstPtr
typename SceneCloud::ConstPtr SceneCloudConstPtr
typename PointCloud::Ptr PointCloudPtr
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 ...
typename ModelRfCloud::Ptr ModelRfCloudPtr
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...
SceneRfCloudConstPtr getSceneRf() const
Getter for the scene dataset's reference frames.
bool houghVoting()
The Hough space voting procedure.
#define PCL_MAKE_ALIGNED_OPERATOR_NEW
Macro to signal a class requires a custom allocator.
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.
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.
pcl::recognition::HoughSpace3D::Ptr hough_space_
The Hough space.
shared_ptr< HoughSpace3D > Ptr
bool use_distance_weight_
Use the weighted correspondence distance when casting votes.
bool getUseDistanceWeight() const
Gets whether the vote casting procedure uses the correspondence's distance as a score.
void setInputRf(const ModelRfCloudConstPtr &input_rf)
Provide a pointer to the input 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...
void setSceneCloud(const SceneCloudConstPtr &scene) override
Provide a pointer to the scene dataset (i.e.
void computeRf(const typename pcl::PointCloud< PointType >::ConstPtr &input, pcl::PointCloud< PointRfType > &rf)
Computes the reference frame for an input cloud.
CorrespondencesConstPtr model_scene_corrs_
The correspondences between points in the input and the scene datasets.
void setModelSceneCorrespondences(const CorrespondencesConstPtr &corrs) override
Provide a pointer to the precomputed correspondences between points in the input dataset and points i...
Hough3DGrouping()
Constructor.
ModelRfCloudConstPtr input_rf_
The input Rf cloud.
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 ...
void clusterCorrespondences(std::vector< Correspondences > &model_instances) override
Cluster the input correspondences in order to distinguish between different instances of the model in...
PointCloud represents the base class in PCL for storing collections of 3D points. ...
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.
void setInputCloud(const PointCloudConstPtr &cloud) override
Provide a pointer to the input dataset.
SceneCloudConstPtr scene_
The scene cloud.
shared_ptr< const PointCloud< PointT > > ConstPtr
double hough_threshold_
The minimum number of votes in the Hough space needed to infer the presence of a model instance into ...
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.
typename SceneRfCloud::Ptr SceneRfCloudPtr
ModelRfCloudConstPtr getInputRf() const
Getter for the input dataset's reference frames.
std::vector< Eigen::Matrix4f, Eigen::aligned_allocator< Eigen::Matrix4f > > found_transformations_
Transformations found by clusterCorrespondences method.
typename PointCloud::ConstPtr PointCloudConstPtr
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.
double getHoughBinSize() const
Gets the size of each bin into the Hough space.
HoughSpace3D is a 3D voting space.
std::unordered_map< int, std::vector< int > > voter_ids_
List of voters for each bin.
bool getUseInterpolation() const
Gets whether the vote casting procedure interpolates the score between neighboring bins of the Hough ...
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...
typename SceneRfCloud::ConstPtr SceneRfCloudConstPtr
void setSceneRf(const SceneRfCloudConstPtr &scene_rf)
Provide a pointer to the scene dataset's reference frames.
void setHoughBinSize(double bin_size)
Sets the size of each bin into the Hough space.