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 |
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| HoughSpace3D (const Eigen::Vector3d &min_coord, const Eigen::Vector3d &bin_size, const Eigen::Vector3d &max_coord) | |
| Constructor. More... |
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| void | reset () |
| Reset all cast votes. More... |
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| 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... |
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| int | voteInt (const Eigen::Vector3d &single_vote_coord, double weight, int voter_id) |
| Vote for a given position in the 3D space. More... |
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| 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 |
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| Eigen::Vector3d | min_coord_ |
| Minimum coordinate in the Hough Space. More... |
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| Eigen::Vector3d | bin_size_ |
| Size of each bin in the Hough Space. More... |
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| Eigen::Vector3i | bin_count_ |
| Number of bins for each dimension. More... |
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| int | partial_bin_products_ [4] |
| Used to access hough_space_ as if it was a matrix. More... |
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| int | total_bins_count_ |
| Total number of bins in the Hough Space. More... |
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| std::vector< double > | hough_space_ |
| The Hough Space. More... |
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| std::unordered_map< int, std::vector< int > > | voter_ids_ |
| List of voters for each bin. More... |
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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.
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_
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protected |
Number of bins for each dimension.
Definition at line 118 of file hough_3d.h.
bin_size_
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protected |
Size of each bin in the Hough Space.
Definition at line 115 of file hough_3d.h.
hough_space_
|
protected |
The Hough Space.
Definition at line 127 of file hough_3d.h.
min_coord_
|
protected |
Minimum coordinate in the Hough Space.
Definition at line 112 of file hough_3d.h.
partial_bin_products_
|
protected |
Used to access hough_space_ as if it was a matrix.
Definition at line 121 of file hough_3d.h.
total_bins_count_
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protected |
Total number of bins in the Hough Space.
Definition at line 124 of file hough_3d.h.
voter_ids_
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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
