Class implementing a 3D correspondence grouping algorithm that can deal with multiple instances of a model template found into a given scene. More...

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

Inheritance diagram for pcl::Hough3DGrouping< PointModelT, PointSceneT, PointModelRfT, PointSceneRfT >:

Collaboration diagram for pcl::Hough3DGrouping< PointModelT, PointSceneT, PointModelRfT, PointSceneRfT >:

Public Types
using	ModelRfCloud = pcl::PointCloud< PointModelRfT >

using	ModelRfCloudPtr = typename ModelRfCloud::Ptr

using	ModelRfCloudConstPtr = typename ModelRfCloud::ConstPtr

using	SceneRfCloud = pcl::PointCloud< PointSceneRfT >

using	SceneRfCloudPtr = typename SceneRfCloud::Ptr

using	SceneRfCloudConstPtr = typename SceneRfCloud::ConstPtr

using	PointCloud = pcl::PointCloud< PointModelT >

using	PointCloudPtr = typename PointCloud::Ptr

using	PointCloudConstPtr = typename PointCloud::ConstPtr

using	SceneCloudConstPtr = typename pcl::CorrespondenceGrouping< PointModelT, PointSceneT >::SceneCloudConstPtr

Public Types inherited from pcl::CorrespondenceGrouping< PointModelT, PointSceneT >
using	SceneCloud = pcl::PointCloud< PointSceneT >

using	SceneCloudPtr = typename SceneCloud::Ptr

using	SceneCloudConstPtr = typename SceneCloud::ConstPtr

Public Types inherited from pcl::PCLBase< PointModelT >
using	PointCloud = pcl::PointCloud< PointModelT >

using	PointCloudPtr = typename PointCloud::Ptr

using	PointCloudConstPtr = typename PointCloud::ConstPtr

using	PointIndicesPtr = PointIndices::Ptr

using	PointIndicesConstPtr = PointIndices::ConstPtr

Public Member Functions
	Hough3DGrouping ()
	Constructor. More...

void	setInputCloud (const PointCloudConstPtr &cloud) override
	Provide a pointer to the input dataset. More...

void	setInputRf (const ModelRfCloudConstPtr &input_rf)
	Provide a pointer to the input dataset's reference frames. More...

ModelRfCloudConstPtr	getInputRf () const
	Getter for the input dataset's reference frames. More...

void	setSceneCloud (const SceneCloudConstPtr &scene) override
	Provide a pointer to the scene dataset (i.e. More...

void	setSceneRf (const SceneRfCloudConstPtr &scene_rf)
	Provide a pointer to the scene dataset's reference frames. More...

SceneRfCloudConstPtr	getSceneRf () const
	Getter for the scene dataset's reference frames. More...

void	setModelSceneCorrespondences (const CorrespondencesConstPtr &corrs) override
	Provide a pointer to the precomputed correspondences between points in the input dataset and points in the scene dataset. More...

void	setHoughThreshold (double threshold)
	Sets the minimum number of votes in the Hough space needed to infer the presence of a model instance into the scene cloud. More...

double	getHoughThreshold () const
	Gets the minimum number of votes in the Hough space needed to infer the presence of a model instance into the scene cloud. More...

void	setHoughBinSize (double bin_size)
	Sets the size of each bin into the Hough space. More...

double	getHoughBinSize () const
	Gets the size of each bin into the Hough space. More...

void	setUseInterpolation (bool use_interpolation)
	Sets whether the vote casting procedure interpolates the score between neighboring bins of the Hough space or not. More...

bool	getUseInterpolation () const
	Gets whether the vote casting procedure interpolates the score between neighboring bins of the Hough space or not. More...

void	setUseDistanceWeight (bool use_distance_weight)
	Sets whether the vote casting procedure uses the correspondence's distance as a score. More...

bool	getUseDistanceWeight () const
	Gets whether the vote casting procedure uses the correspondence's distance as a score. More...

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, this algorithm makes the computation itself but needs a suitable search radius to compute the normals in order to subsequently compute the RF (if not set a default 15 nearest neighbors search is performed). More...

float	getLocalRfNormalsSearchRadius () const
	If the Local reference frame has not been set for either the model cloud or the scene cloud, this algorithm makes the computation itself but needs a suitable search radius to compute the normals in order to subsequently compute the RF (if not set a default 15 nearest neighbors search is performed). More...

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, this algorithm makes the computation itself but needs a suitable search radius to do so. More...

float	getLocalRfSearchRadius () const
	If the Local reference frame has not been set for either the model cloud or the scene cloud, this algorithm makes the computation itself but needs a suitable search radius to do so. More...

bool	train ()
	Call this function after setting the input, the input_rf and the hough_bin_size parameters to perform an off line training of the algorithm. More...

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. More...

bool	recognize (std::vector< Eigen::Matrix4f, Eigen::aligned_allocator< Eigen::Matrix4f > > &transformations, std::vector< pcl::Correspondences > &clustered_corrs)
	The main function, recognizes instances of the model into the scene set by the user. More...

Public Member Functions inherited from pcl::CorrespondenceGrouping< PointModelT, PointSceneT >
	CorrespondenceGrouping ()
	Empty constructor. More...

	~CorrespondenceGrouping () override
	destructor. More...

SceneCloudConstPtr	getSceneCloud () const
	Getter for the scene dataset. More...

CorrespondencesConstPtr	getModelSceneCorrespondences () const
	Getter for the precomputed correspondences between points in the input dataset and points in the scene dataset. More...

std::vector< double >	getCharacteristicScales () const
	Getter for the vector of characteristic scales associated to each cluster. More...

void	cluster (std::vector< Correspondences > &clustered_corrs)
	Clusters the input correspondences belonging to different model instances. More...

Public Member Functions inherited from pcl::PCLBase< PointModelT >
	PCLBase ()
	Empty constructor. More...

	PCLBase (const PCLBase &base)
	Copy constructor. More...

virtual	~PCLBase ()=default
	Destructor. More...

PointCloudConstPtr const	getInputCloud () const
	Get a pointer to the input point cloud dataset. More...

virtual void	setIndices (const IndicesPtr &indices)
	Provide a pointer to the vector of indices that represents the input data. More...

virtual void	setIndices (const IndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data. More...

virtual void	setIndices (const PointIndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data. More...

virtual void	setIndices (std::size_t row_start, std::size_t col_start, std::size_t nb_rows, std::size_t nb_cols)
	Set the indices for the points laying within an interest region of the point cloud. More...

IndicesPtr	getIndices ()
	Get a pointer to the vector of indices used. More...

IndicesConstPtr const	getIndices () const
	Get a pointer to the vector of indices used. More...

const PointModelT &	operator[] (std::size_t pos) const
	Override PointCloud operator[] to shorten code. More...

Protected Member Functions
void	clusterCorrespondences (std::vector< Correspondences > &model_instances) override
	Cluster the input correspondences in order to distinguish between different instances of the model into the scene. More...

bool	houghVoting ()
	The Hough space voting procedure. More...

template<typename PointType , typename PointRfType >
void	computeRf (const typename pcl::PointCloud< PointType >::ConstPtr &input, pcl::PointCloud< PointRfType > &rf)
	Computes the reference frame for an input cloud. More...

Protected Member Functions inherited from pcl::CorrespondenceGrouping< PointModelT, PointSceneT >
bool	initCompute ()
	This method should get called before starting the actual computation. More...

bool	deinitCompute ()
	This method should get called after finishing the actual computation. More...

Protected Member Functions inherited from pcl::PCLBase< PointModelT >
bool	initCompute ()
	This method should get called before starting the actual computation. More...

bool	deinitCompute ()
	This method should get called after finishing the actual computation. More...

Protected Attributes
ModelRfCloudConstPtr	input_rf_
	The input Rf cloud. More...

SceneRfCloudConstPtr	scene_rf_
	The scene Rf cloud. More...

bool	needs_training_ {true}
	If the training of the Hough space is needed; set on change of either the input cloud or the input_rf. More...

std::vector< Eigen::Vector3f, Eigen::aligned_allocator< Eigen::Vector3f > >	model_votes_
	The result of the training. More...

double	hough_threshold_ {-1.0}
	The minimum number of votes in the Hough space needed to infer the presence of a model instance into the scene cloud. More...

double	hough_bin_size_ {1.0}
	The size of each bin of the hough space. More...

bool	use_interpolation_ {true}
	Use the interpolation between neighboring Hough bins when casting votes. More...

bool	use_distance_weight_ {false}
	Use the weighted correspondence distance when casting votes. More...

float	local_rf_normals_search_radius_ {0.0f}
	Normals search radius for the potential Rf calculation. More...

float	local_rf_search_radius_ {0.0f}
	Search radius for the potential Rf calculation. More...

pcl::recognition::HoughSpace3D::Ptr	hough_space_
	The Hough space. More...

std::vector< Eigen::Matrix4f, Eigen::aligned_allocator< Eigen::Matrix4f > >	found_transformations_
	Transformations found by clusterCorrespondences method. More...

bool	hough_space_initialized_ {false}
	Whether the Hough space already contains the correct votes for the current input parameters and so the cluster and recognize calls don't need to recompute each value. More...

Protected Attributes inherited from pcl::CorrespondenceGrouping< PointModelT, PointSceneT >
SceneCloudConstPtr	scene_
	The scene cloud. More...

CorrespondencesConstPtr	model_scene_corrs_
	The correspondences between points in the input and the scene datasets. More...

std::vector< double >	corr_group_scale_
	characteristic scale associated to each correspondence subset; if the cg algorithm can not handle scale invariance, the size of the vector will be 0. More...

Protected Attributes inherited from pcl::PCLBase< PointModelT >
PointCloudConstPtr	input_
	The input point cloud dataset. More...

IndicesPtr	indices_
	A pointer to the vector of point indices to use. More...

bool	use_indices_
	Set to true if point indices are used. More...

bool	fake_indices_
	If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud. More...

Detailed Description

template<typename PointModelT, typename PointSceneT, typename PointModelRfT = pcl::ReferenceFrame, typename PointSceneRfT = pcl::ReferenceFrame>
class pcl::Hough3DGrouping< PointModelT, PointSceneT, PointModelRfT, PointSceneRfT >

Class implementing a 3D correspondence grouping algorithm that can deal with multiple instances of a model template found into a given scene.

Each correspondence casts a vote for a reference point in a 3D Hough Space. The remaining 3 DOF are taken into account by associating each correspondence with a local Reference Frame. The suggested PointModelRfT is pcl::ReferenceFrame

Note

If you use this code in any academic work, please cite the original paper:

F. Tombari, L. Di Stefano: Object recognition in 3D scenes with occlusions and clutter by Hough voting. 2010, Fourth Pacific-Rim Symposium on Image and Video Technology

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

Definition at line 148 of file hough_3d.h.

Member Typedef Documentation

◆ ModelRfCloud

template<typename PointModelT , typename PointSceneT , typename PointModelRfT = pcl::ReferenceFrame, typename PointSceneRfT = pcl::ReferenceFrame>

using pcl::Hough3DGrouping< PointModelT, PointSceneT, PointModelRfT, PointSceneRfT >::ModelRfCloud = pcl::PointCloud<PointModelRfT>

Definition at line 151 of file hough_3d.h.

◆ ModelRfCloudConstPtr

template<typename PointModelT , typename PointSceneT , typename PointModelRfT = pcl::ReferenceFrame, typename PointSceneRfT = pcl::ReferenceFrame>

using pcl::Hough3DGrouping< PointModelT, PointSceneT, PointModelRfT, PointSceneRfT >::ModelRfCloudConstPtr = typename ModelRfCloud::ConstPtr

Definition at line 153 of file hough_3d.h.

◆ ModelRfCloudPtr

template<typename PointModelT , typename PointSceneT , typename PointModelRfT = pcl::ReferenceFrame, typename PointSceneRfT = pcl::ReferenceFrame>

using pcl::Hough3DGrouping< PointModelT, PointSceneT, PointModelRfT, PointSceneRfT >::ModelRfCloudPtr = typename ModelRfCloud::Ptr

Definition at line 152 of file hough_3d.h.

◆ PointCloud

template<typename PointModelT , typename PointSceneT , typename PointModelRfT = pcl::ReferenceFrame, typename PointSceneRfT = pcl::ReferenceFrame>

using pcl::Hough3DGrouping< PointModelT, PointSceneT, PointModelRfT, PointSceneRfT >::PointCloud = pcl::PointCloud<PointModelT>

Definition at line 159 of file hough_3d.h.

◆ PointCloudConstPtr

template<typename PointModelT , typename PointSceneT , typename PointModelRfT = pcl::ReferenceFrame, typename PointSceneRfT = pcl::ReferenceFrame>

using pcl::Hough3DGrouping< PointModelT, PointSceneT, PointModelRfT, PointSceneRfT >::PointCloudConstPtr = typename PointCloud::ConstPtr

Definition at line 161 of file hough_3d.h.

◆ PointCloudPtr

template<typename PointModelT , typename PointSceneT , typename PointModelRfT = pcl::ReferenceFrame, typename PointSceneRfT = pcl::ReferenceFrame>

using pcl::Hough3DGrouping< PointModelT, PointSceneT, PointModelRfT, PointSceneRfT >::PointCloudPtr = typename PointCloud::Ptr

Definition at line 160 of file hough_3d.h.

◆ SceneCloudConstPtr

template<typename PointModelT , typename PointSceneT , typename PointModelRfT = pcl::ReferenceFrame, typename PointSceneRfT = pcl::ReferenceFrame>

using pcl::Hough3DGrouping< PointModelT, PointSceneT, PointModelRfT, PointSceneRfT >::SceneCloudConstPtr = typename pcl::CorrespondenceGrouping<PointModelT, PointSceneT>::SceneCloudConstPtr

Definition at line 163 of file hough_3d.h.

◆ SceneRfCloud

template<typename PointModelT , typename PointSceneT , typename PointModelRfT = pcl::ReferenceFrame, typename PointSceneRfT = pcl::ReferenceFrame>

using pcl::Hough3DGrouping< PointModelT, PointSceneT, PointModelRfT, PointSceneRfT >::SceneRfCloud = pcl::PointCloud<PointSceneRfT>

Definition at line 155 of file hough_3d.h.

◆ SceneRfCloudConstPtr

template<typename PointModelT , typename PointSceneT , typename PointModelRfT = pcl::ReferenceFrame, typename PointSceneRfT = pcl::ReferenceFrame>

using pcl::Hough3DGrouping< PointModelT, PointSceneT, PointModelRfT, PointSceneRfT >::SceneRfCloudConstPtr = typename SceneRfCloud::ConstPtr

Definition at line 157 of file hough_3d.h.

◆ SceneRfCloudPtr

template<typename PointModelT , typename PointSceneT , typename PointModelRfT = pcl::ReferenceFrame, typename PointSceneRfT = pcl::ReferenceFrame>

using pcl::Hough3DGrouping< PointModelT, PointSceneT, PointModelRfT, PointSceneRfT >::SceneRfCloudPtr = typename SceneRfCloud::Ptr

Definition at line 156 of file hough_3d.h.

Constructor & Destructor Documentation

◆ Hough3DGrouping()

template<typename PointModelT , typename PointSceneT , typename PointModelRfT = pcl::ReferenceFrame, typename PointSceneRfT = pcl::ReferenceFrame>

pcl::Hough3DGrouping< PointModelT, PointSceneT, PointModelRfT, PointSceneRfT >::Hough3DGrouping ( )

inline

Constructor.

Definition at line 166 of file hough_3d.h.

Member Function Documentation

◆ clusterCorrespondences()

template<typename PointModelT , typename PointSceneT , typename PointModelRfT , typename PointSceneRfT >

void pcl::Hough3DGrouping< PointModelT, PointSceneT, PointModelRfT, PointSceneRfT >::clusterCorrespondences ( std::vector< Correspondences > & model_instances )

overrideprotectedvirtual

Cluster the input correspondences in order to distinguish between different instances of the model into the scene.

Parameters

[out] model_instances a vector containing the clustered correspondences for each model found on the scene.

Returns: true if the clustering had been successful or false if errors have occurred.

Implements pcl::CorrespondenceGrouping< PointModelT, PointSceneT >.

Definition at line 259 of file hough_3d.hpp.

References pcl::copyPointCloud(), pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::getBestTransformation(), pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::getRemainingCorrespondences(), pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::setInlierThreshold(), pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::setInputSource(), pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::setInputTarget(), and pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::setMaximumIterations().

◆ computeRf()

template<typename PointModelT , typename PointSceneT , typename PointModelRfT , typename PointSceneRfT >

template<typename PointType , typename PointRfType >

void pcl::Hough3DGrouping< PointModelT, PointSceneT, PointModelRfT, PointSceneRfT >::computeRf	(	const typename pcl::PointCloud< PointType >::ConstPtr &	input,
		pcl::PointCloud< PointRfType > &	rf
	)

protected

Computes the reference frame for an input cloud.

Parameters

[in]	input	the input cloud.
[out]	rf	the resulting reference frame.

Definition at line 55 of file hough_3d.hpp.

References pcl::Feature< PointInT, PointOutT >::compute(), pcl::BOARDLocalReferenceFrameEstimation< PointInT, PointNT, PointOutT >::setFindHoles(), pcl::PCLBase< PointT >::setInputCloud(), pcl::NormalEstimation< PointInT, PointOutT >::setInputCloud(), pcl::FeatureFromNormals< PointInT, PointNT, PointOutT >::setInputNormals(), pcl::Feature< PointInT, PointOutT >::setKSearch(), and pcl::Feature< PointInT, PointOutT >::setRadiusSearch().

◆ getHoughBinSize()

template<typename PointModelT , typename PointSceneT , typename PointModelRfT = pcl::ReferenceFrame, typename PointSceneRfT = pcl::ReferenceFrame>

double pcl::Hough3DGrouping< PointModelT, PointSceneT, PointModelRfT, PointSceneRfT >::getHoughBinSize ( ) const

inline

Gets the size of each bin into the Hough space.

Returns: the size of each Hough space's bin.

Definition at line 298 of file hough_3d.h.

References pcl::Hough3DGrouping< PointModelT, PointSceneT, PointModelRfT, PointSceneRfT >::hough_bin_size_.

◆ getHoughThreshold()

template<typename PointModelT , typename PointSceneT , typename PointModelRfT = pcl::ReferenceFrame, typename PointSceneRfT = pcl::ReferenceFrame>

double pcl::Hough3DGrouping< PointModelT, PointSceneT, PointModelRfT, PointSceneRfT >::getHoughThreshold ( ) const

inline

Gets the minimum number of votes in the Hough space needed to infer the presence of a model instance into the scene cloud.

Returns: the threshold for the Hough space voting.

Definition at line 277 of file hough_3d.h.

References pcl::Hough3DGrouping< PointModelT, PointSceneT, PointModelRfT, PointSceneRfT >::hough_threshold_.

◆ getInputRf()

template<typename PointModelT , typename PointSceneT , typename PointModelRfT = pcl::ReferenceFrame, typename PointSceneRfT = pcl::ReferenceFrame>

ModelRfCloudConstPtr pcl::Hough3DGrouping< PointModelT, PointSceneT, PointModelRfT, PointSceneRfT >::getInputRf ( ) const

inline

Getter for the input dataset's reference frames.

Each point in the reference frame cloud should be the reference frame of the correspondent point in the input dataset.

Returns: the pointer to the input cloud's reference frames.

Definition at line 204 of file hough_3d.h.

References pcl::Hough3DGrouping< PointModelT, PointSceneT, PointModelRfT, PointSceneRfT >::input_rf_.

◆ getLocalRfNormalsSearchRadius()

template<typename PointModelT , typename PointSceneT , typename PointModelRfT = pcl::ReferenceFrame, typename PointSceneRfT = pcl::ReferenceFrame>

float pcl::Hough3DGrouping< PointModelT, PointSceneT, PointModelRfT, PointSceneRfT >::getLocalRfNormalsSearchRadius ( ) const

inline

If the Local reference frame has not been set for either the model cloud or the scene cloud, this algorithm makes the computation itself but needs a suitable search radius to compute the normals in order to subsequently compute the RF (if not set a default 15 nearest neighbors search is performed).

Returns: the normals search radius for the local reference frame calculation.

Definition at line 368 of file hough_3d.h.

References pcl::Hough3DGrouping< PointModelT, PointSceneT, PointModelRfT, PointSceneRfT >::local_rf_normals_search_radius_.

◆ getLocalRfSearchRadius()

template<typename PointModelT , typename PointSceneT , typename PointModelRfT = pcl::ReferenceFrame, typename PointSceneRfT = pcl::ReferenceFrame>

float pcl::Hough3DGrouping< PointModelT, PointSceneT, PointModelRfT, PointSceneRfT >::getLocalRfSearchRadius ( ) const

inline

If the Local reference frame has not been set for either the model cloud or the scene cloud, this algorithm makes the computation itself but needs a suitable search radius to do so.

Attention: This parameter NEEDS to be set if the reference frames are not precomputed externally, otherwise the recognition results won't be correct.

Returns: the search radius for the local reference frame calculation.

Definition at line 396 of file hough_3d.h.

References pcl::Hough3DGrouping< PointModelT, PointSceneT, PointModelRfT, PointSceneRfT >::local_rf_search_radius_.

◆ getSceneRf()

template<typename PointModelT , typename PointSceneT , typename PointModelRfT = pcl::ReferenceFrame, typename PointSceneRfT = pcl::ReferenceFrame>

SceneRfCloudConstPtr pcl::Hough3DGrouping< PointModelT, PointSceneT, PointModelRfT, PointSceneRfT >::getSceneRf ( ) const

inline

Getter for the scene dataset's reference frames.

Each point in the reference frame cloud should be the reference frame of the correspondent point in the scene dataset.

Returns: the pointer to the scene cloud's reference frames.

Definition at line 241 of file hough_3d.h.

References pcl::Hough3DGrouping< PointModelT, PointSceneT, PointModelRfT, PointSceneRfT >::scene_rf_.

◆ getUseDistanceWeight()

template<typename PointModelT , typename PointSceneT , typename PointModelRfT = pcl::ReferenceFrame, typename PointSceneRfT = pcl::ReferenceFrame>

bool pcl::Hough3DGrouping< PointModelT, PointSceneT, PointModelRfT, PointSceneRfT >::getUseDistanceWeight ( ) const

inline

Gets whether the vote casting procedure uses the correspondence's distance as a score.

Returns: if the algorithm should use the weighted distance when calculating the Hough voting score.

Definition at line 342 of file hough_3d.h.

References pcl::Hough3DGrouping< PointModelT, PointSceneT, PointModelRfT, PointSceneRfT >::use_distance_weight_.

◆ getUseInterpolation()

template<typename PointModelT , typename PointSceneT , typename PointModelRfT = pcl::ReferenceFrame, typename PointSceneRfT = pcl::ReferenceFrame>

bool pcl::Hough3DGrouping< PointModelT, PointSceneT, PointModelRfT, PointSceneRfT >::getUseInterpolation ( ) const

inline

Gets whether the vote casting procedure interpolates the score between neighboring bins of the Hough space or not.

Returns: if the algorithm should interpolate the vote score between neighboring bins.

Definition at line 321 of file hough_3d.h.

References pcl::Hough3DGrouping< PointModelT, PointSceneT, PointModelRfT, PointSceneRfT >::use_interpolation_.

◆ houghVoting()

template<typename PointModelT , typename PointSceneT , typename PointModelRfT , typename PointSceneRfT >

bool pcl::Hough3DGrouping< PointModelT, PointSceneT, PointModelRfT, PointSceneRfT >::houghVoting

protected

The Hough space voting procedure.

Returns: true if the voting had been successful or false if errors have occurred.

Definition at line 138 of file hough_3d.hpp.

References pcl::geometry::distance().

◆ recognize() [1/2]

template<typename PointModelT , typename PointSceneT , typename PointModelRfT , typename PointSceneRfT >

bool pcl::Hough3DGrouping< PointModelT, PointSceneT, PointModelRfT, PointSceneRfT >::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.

Parameters

[out] transformations a vector containing one transformation matrix for each instance of the model recognized into the scene.

Returns: true if the recognition had been successful or false if errors have occurred.

Definition at line 334 of file hough_3d.hpp.

◆ recognize() [2/2]

template<typename PointModelT , typename PointSceneT , typename PointModelRfT , typename PointSceneRfT >

bool pcl::Hough3DGrouping< PointModelT, PointSceneT, PointModelRfT, PointSceneRfT >::recognize	(	std::vector< Eigen::Matrix4f, Eigen::aligned_allocator< Eigen::Matrix4f > > &	transformations,
		std::vector< pcl::Correspondences > &	clustered_corrs
	)

The main function, recognizes instances of the model into the scene set by the user.

Parameters

[out]	transformations	a vector containing one transformation matrix for each instance of the model recognized into the scene.
[out]	clustered_corrs	a vector containing the correspondences for each instance of the model found within the input data (the same output of clusterCorrespondences).

Returns: true if the recognition had been successful or false if errors have occurred.

Definition at line 343 of file hough_3d.hpp.

◆ setHoughBinSize()

template<typename PointModelT , typename PointSceneT , typename PointModelRfT = pcl::ReferenceFrame, typename PointSceneRfT = pcl::ReferenceFrame>

void pcl::Hough3DGrouping< PointModelT, PointSceneT, PointModelRfT, PointSceneRfT >::setHoughBinSize ( double bin_size )

inline

Sets the size of each bin into the Hough space.

Parameters

[in] bin_size the size of each Hough space's bin.

Definition at line 287 of file hough_3d.h.

References pcl::Hough3DGrouping< PointModelT, PointSceneT, PointModelRfT, PointSceneRfT >::hough_bin_size_, and pcl::Hough3DGrouping< PointModelT, PointSceneT, PointModelRfT, PointSceneRfT >::hough_space_initialized_.

◆ setHoughThreshold()

template<typename PointModelT , typename PointSceneT , typename PointModelRfT = pcl::ReferenceFrame, typename PointSceneRfT = pcl::ReferenceFrame>

void pcl::Hough3DGrouping< PointModelT, PointSceneT, PointModelRfT, PointSceneRfT >::setHoughThreshold ( double threshold )

inline

Sets the minimum number of votes in the Hough space needed to infer the presence of a model instance into the scene cloud.

Parameters

[in] threshold the threshold for the Hough space voting, if set between -1 and 0 the maximum vote in the entire space is automatically calculated and -threshold the maximum value is used as a threshold. This means that a value between -1 and 0 should be used only if at least one instance of the model is always present in the scene, or if this false positive can be filtered later.

Definition at line 267 of file hough_3d.h.

References pcl::Hough3DGrouping< PointModelT, PointSceneT, PointModelRfT, PointSceneRfT >::hough_threshold_.

◆ setInputCloud()

template<typename PointModelT , typename PointSceneT , typename PointModelRfT = pcl::ReferenceFrame, typename PointSceneRfT = pcl::ReferenceFrame>

void pcl::Hough3DGrouping< PointModelT, PointSceneT, PointModelRfT, PointSceneRfT >::setInputCloud ( const PointCloudConstPtr & cloud )

inlineoverridevirtual

Provide a pointer to the input dataset.

Parameters

[in] cloud the const boost shared pointer to a PointCloud message.

Reimplemented from pcl::PCLBase< PointModelT >.

Definition at line 175 of file hough_3d.h.

References pcl::Hough3DGrouping< PointModelT, PointSceneT, PointModelRfT, PointSceneRfT >::hough_space_initialized_, pcl::Hough3DGrouping< PointModelT, PointSceneT, PointModelRfT, PointSceneRfT >::input_rf_, pcl::Hough3DGrouping< PointModelT, PointSceneT, PointModelRfT, PointSceneRfT >::needs_training_, and pcl::PCLBase< PointT >::setInputCloud().

◆ setInputRf()

template<typename PointModelT , typename PointSceneT , typename PointModelRfT = pcl::ReferenceFrame, typename PointSceneRfT = pcl::ReferenceFrame>

void pcl::Hough3DGrouping< PointModelT, PointSceneT, PointModelRfT, PointSceneRfT >::setInputRf ( const ModelRfCloudConstPtr & input_rf )

inline

Provide a pointer to the input dataset's reference frames.

Each point in the reference frame cloud should be the reference frame of the correspondent point in the input dataset.

Parameters

[in] input_rf the pointer to the input cloud's reference frames.

Definition at line 190 of file hough_3d.h.

References pcl::Hough3DGrouping< PointModelT, PointSceneT, PointModelRfT, PointSceneRfT >::hough_space_initialized_, pcl::Hough3DGrouping< PointModelT, PointSceneT, PointModelRfT, PointSceneRfT >::input_rf_, and pcl::Hough3DGrouping< PointModelT, PointSceneT, PointModelRfT, PointSceneRfT >::needs_training_.

◆ setLocalRfNormalsSearchRadius()

template<typename PointModelT , typename PointSceneT , typename PointModelRfT = pcl::ReferenceFrame, typename PointSceneRfT = pcl::ReferenceFrame>

void pcl::Hough3DGrouping< PointModelT, PointSceneT, PointModelRfT, PointSceneRfT >::setLocalRfNormalsSearchRadius ( float local_rf_normals_search_radius )

inline

If the Local reference frame has not been set for either the model cloud or the scene cloud, this algorithm makes the computation itself but needs a suitable search radius to compute the normals in order to subsequently compute the RF (if not set a default 15 nearest neighbors search is performed).

Parameters

[in] local_rf_normals_search_radius the normals search radius for the local reference frame calculation.

Definition at line 354 of file hough_3d.h.

References pcl::Hough3DGrouping< PointModelT, PointSceneT, PointModelRfT, PointSceneRfT >::hough_space_initialized_, pcl::Hough3DGrouping< PointModelT, PointSceneT, PointModelRfT, PointSceneRfT >::local_rf_normals_search_radius_, and pcl::Hough3DGrouping< PointModelT, PointSceneT, PointModelRfT, PointSceneRfT >::needs_training_.

◆ setLocalRfSearchRadius()

template<typename PointModelT , typename PointSceneT , typename PointModelRfT = pcl::ReferenceFrame, typename PointSceneRfT = pcl::ReferenceFrame>

void pcl::Hough3DGrouping< PointModelT, PointSceneT, PointModelRfT, PointSceneRfT >::setLocalRfSearchRadius ( float local_rf_search_radius )

inline

If the Local reference frame has not been set for either the model cloud or the scene cloud, this algorithm makes the computation itself but needs a suitable search radius to do so.

Attention: This parameter NEEDS to be set if the reference frames are not precomputed externally, otherwise the recognition results won't be correct.

Parameters

[in] local_rf_search_radius the search radius for the local reference frame calculation.

Definition at line 381 of file hough_3d.h.

References pcl::Hough3DGrouping< PointModelT, PointSceneT, PointModelRfT, PointSceneRfT >::hough_space_initialized_, pcl::Hough3DGrouping< PointModelT, PointSceneT, PointModelRfT, PointSceneRfT >::local_rf_search_radius_, and pcl::Hough3DGrouping< PointModelT, PointSceneT, PointModelRfT, PointSceneRfT >::needs_training_.

◆ setModelSceneCorrespondences()

template<typename PointModelT , typename PointSceneT , typename PointModelRfT = pcl::ReferenceFrame, typename PointSceneRfT = pcl::ReferenceFrame>

void pcl::Hough3DGrouping< PointModelT, PointSceneT, PointModelRfT, PointSceneRfT >::setModelSceneCorrespondences ( const CorrespondencesConstPtr & corrs )

inlineoverridevirtual

Provide a pointer to the precomputed correspondences between points in the input dataset and points in the scene dataset.

The correspondences are going to be clustered into different model instances by the algorithm.

Parameters

[in] corrs the correspondences between the model and the scene.

Reimplemented from pcl::CorrespondenceGrouping< PointModelT, PointSceneT >.

Definition at line 253 of file hough_3d.h.

References pcl::Hough3DGrouping< PointModelT, PointSceneT, PointModelRfT, PointSceneRfT >::hough_space_initialized_, and pcl::CorrespondenceGrouping< PointModelT, PointSceneT >::model_scene_corrs_.

◆ setSceneCloud()

template<typename PointModelT , typename PointSceneT , typename PointModelRfT = pcl::ReferenceFrame, typename PointSceneRfT = pcl::ReferenceFrame>

void pcl::Hough3DGrouping< PointModelT, PointSceneT, PointModelRfT, PointSceneRfT >::setSceneCloud ( const SceneCloudConstPtr & scene )

inlineoverridevirtual

Provide a pointer to the scene dataset (i.e.

the cloud in which the algorithm has to search for instances of the input model)

Parameters

[in] scene the const boost shared pointer to a PointCloud message.

Reimplemented from pcl::CorrespondenceGrouping< PointModelT, PointSceneT >.

Definition at line 214 of file hough_3d.h.

References pcl::Hough3DGrouping< PointModelT, PointSceneT, PointModelRfT, PointSceneRfT >::hough_space_initialized_, pcl::CorrespondenceGrouping< PointModelT, PointSceneT >::scene_, and pcl::Hough3DGrouping< PointModelT, PointSceneT, PointModelRfT, PointSceneRfT >::scene_rf_.

◆ setSceneRf()

template<typename PointModelT , typename PointSceneT , typename PointModelRfT = pcl::ReferenceFrame, typename PointSceneRfT = pcl::ReferenceFrame>

void pcl::Hough3DGrouping< PointModelT, PointSceneT, PointModelRfT, PointSceneRfT >::setSceneRf ( const SceneRfCloudConstPtr & scene_rf )

inline

Provide a pointer to the scene dataset's reference frames.

Each point in the reference frame cloud should be the reference frame of the correspondent point in the scene dataset.

Parameters

[in] scene_rf the pointer to the scene cloud's reference frames.

Definition at line 228 of file hough_3d.h.

References pcl::Hough3DGrouping< PointModelT, PointSceneT, PointModelRfT, PointSceneRfT >::hough_space_initialized_, and pcl::Hough3DGrouping< PointModelT, PointSceneT, PointModelRfT, PointSceneRfT >::scene_rf_.

◆ setUseDistanceWeight()

template<typename PointModelT , typename PointSceneT , typename PointModelRfT = pcl::ReferenceFrame, typename PointSceneRfT = pcl::ReferenceFrame>

void pcl::Hough3DGrouping< PointModelT, PointSceneT, PointModelRfT, PointSceneRfT >::setUseDistanceWeight ( bool use_distance_weight )

inline

Sets whether the vote casting procedure uses the correspondence's distance as a score.

Parameters

[in] use_distance_weight the algorithm should use the weighted distance when calculating the Hough voting score.

Definition at line 331 of file hough_3d.h.

References pcl::Hough3DGrouping< PointModelT, PointSceneT, PointModelRfT, PointSceneRfT >::hough_space_initialized_, and pcl::Hough3DGrouping< PointModelT, PointSceneT, PointModelRfT, PointSceneRfT >::use_distance_weight_.

◆ setUseInterpolation()

template<typename PointModelT , typename PointSceneT , typename PointModelRfT = pcl::ReferenceFrame, typename PointSceneRfT = pcl::ReferenceFrame>

void pcl::Hough3DGrouping< PointModelT, PointSceneT, PointModelRfT, PointSceneRfT >::setUseInterpolation ( bool use_interpolation )

inline

Sets whether the vote casting procedure interpolates the score between neighboring bins of the Hough space or not.

Parameters

[in] use_interpolation the algorithm should interpolate the vote score between neighboring bins.

Definition at line 309 of file hough_3d.h.

References pcl::Hough3DGrouping< PointModelT, PointSceneT, PointModelRfT, PointSceneRfT >::hough_space_initialized_, and pcl::Hough3DGrouping< PointModelT, PointSceneT, PointModelRfT, PointSceneRfT >::use_interpolation_.

◆ train()

template<typename PointModelT , typename PointSceneT , typename PointModelRfT , typename PointSceneRfT >

bool pcl::Hough3DGrouping< PointModelT, PointSceneT, PointModelRfT, PointSceneRfT >::train

Call this function after setting the input, the input_rf and the hough_bin_size parameters to perform an off line training of the algorithm.

This might be useful if one wants to perform once and for all a pre-computation of votes that only concern the models, increasing the on-line efficiency of the grouping algorithm. The algorithm is automatically trained on the first invocation of the recognize method or the cluster method if this training function has not been manually invoked.

Returns: true if the training had been successful or false if errors have occurred.

Definition at line 85 of file hough_3d.hpp.

Member Data Documentation

◆ found_transformations_

template<typename PointModelT , typename PointSceneT , typename PointModelRfT = pcl::ReferenceFrame, typename PointSceneRfT = pcl::ReferenceFrame>

std::vector<Eigen::Matrix4f, Eigen::aligned_allocator<Eigen::Matrix4f> > pcl::Hough3DGrouping< PointModelT, PointSceneT, PointModelRfT, PointSceneRfT >::found_transformations_

protected

Transformations found by clusterCorrespondences method.

Definition at line 467 of file hough_3d.h.

◆ hough_bin_size_

template<typename PointModelT , typename PointSceneT , typename PointModelRfT = pcl::ReferenceFrame, typename PointSceneRfT = pcl::ReferenceFrame>

double pcl::Hough3DGrouping< PointModelT, PointSceneT, PointModelRfT, PointSceneRfT >::hough_bin_size_ {1.0}

protected

The size of each bin of the hough space.

Definition at line 449 of file hough_3d.h.

Referenced by pcl::Hough3DGrouping< PointModelT, PointSceneT, PointModelRfT, PointSceneRfT >::getHoughBinSize(), and pcl::Hough3DGrouping< PointModelT, PointSceneT, PointModelRfT, PointSceneRfT >::setHoughBinSize().

◆ hough_space_

template<typename PointModelT , typename PointSceneT , typename PointModelRfT = pcl::ReferenceFrame, typename PointSceneRfT = pcl::ReferenceFrame>

pcl::recognition::HoughSpace3D::Ptr pcl::Hough3DGrouping< PointModelT, PointSceneT, PointModelRfT, PointSceneRfT >::hough_space_

protected

The Hough space.

Definition at line 464 of file hough_3d.h.

◆ hough_space_initialized_

template<typename PointModelT , typename PointSceneT , typename PointModelRfT = pcl::ReferenceFrame, typename PointSceneRfT = pcl::ReferenceFrame>

bool pcl::Hough3DGrouping< PointModelT, PointSceneT, PointModelRfT, PointSceneRfT >::hough_space_initialized_ {false}

protected

Whether the Hough space already contains the correct votes for the current input parameters and so the cluster and recognize calls don't need to recompute each value.

Reset on the change of any parameter except the hough_threshold.

Definition at line 472 of file hough_3d.h.

◆ hough_threshold_

template<typename PointModelT , typename PointSceneT , typename PointModelRfT = pcl::ReferenceFrame, typename PointSceneRfT = pcl::ReferenceFrame>

double pcl::Hough3DGrouping< PointModelT, PointSceneT, PointModelRfT, PointSceneRfT >::hough_threshold_ {-1.0}

protected

The minimum number of votes in the Hough space needed to infer the presence of a model instance into the scene cloud.

Definition at line 446 of file hough_3d.h.

Referenced by pcl::Hough3DGrouping< PointModelT, PointSceneT, PointModelRfT, PointSceneRfT >::getHoughThreshold(), and pcl::Hough3DGrouping< PointModelT, PointSceneT, PointModelRfT, PointSceneRfT >::setHoughThreshold().

◆ input_rf_

template<typename PointModelT , typename PointSceneT , typename PointModelRfT = pcl::ReferenceFrame, typename PointSceneRfT = pcl::ReferenceFrame>

ModelRfCloudConstPtr pcl::Hough3DGrouping< PointModelT, PointSceneT, PointModelRfT, PointSceneRfT >::input_rf_

protected

The input Rf cloud.

Definition at line 434 of file hough_3d.h.

Referenced by pcl::Hough3DGrouping< PointModelT, PointSceneT, PointModelRfT, PointSceneRfT >::getInputRf(), pcl::Hough3DGrouping< PointModelT, PointSceneT, PointModelRfT, PointSceneRfT >::setInputCloud(), and pcl::Hough3DGrouping< PointModelT, PointSceneT, PointModelRfT, PointSceneRfT >::setInputRf().

◆ local_rf_normals_search_radius_

template<typename PointModelT , typename PointSceneT , typename PointModelRfT = pcl::ReferenceFrame, typename PointSceneRfT = pcl::ReferenceFrame>

float pcl::Hough3DGrouping< PointModelT, PointSceneT, PointModelRfT, PointSceneRfT >::local_rf_normals_search_radius_ {0.0f}

protected

Normals search radius for the potential Rf calculation.

Definition at line 458 of file hough_3d.h.

Referenced by pcl::Hough3DGrouping< PointModelT, PointSceneT, PointModelRfT, PointSceneRfT >::getLocalRfNormalsSearchRadius(), and pcl::Hough3DGrouping< PointModelT, PointSceneT, PointModelRfT, PointSceneRfT >::setLocalRfNormalsSearchRadius().

◆ local_rf_search_radius_

template<typename PointModelT , typename PointSceneT , typename PointModelRfT = pcl::ReferenceFrame, typename PointSceneRfT = pcl::ReferenceFrame>

float pcl::Hough3DGrouping< PointModelT, PointSceneT, PointModelRfT, PointSceneRfT >::local_rf_search_radius_ {0.0f}

protected

Search radius for the potential Rf calculation.

Definition at line 461 of file hough_3d.h.

Referenced by pcl::Hough3DGrouping< PointModelT, PointSceneT, PointModelRfT, PointSceneRfT >::getLocalRfSearchRadius(), and pcl::Hough3DGrouping< PointModelT, PointSceneT, PointModelRfT, PointSceneRfT >::setLocalRfSearchRadius().

◆ model_votes_

template<typename PointModelT , typename PointSceneT , typename PointModelRfT = pcl::ReferenceFrame, typename PointSceneRfT = pcl::ReferenceFrame>

std::vector<Eigen::Vector3f, Eigen::aligned_allocator<Eigen::Vector3f> > pcl::Hough3DGrouping< PointModelT, PointSceneT, PointModelRfT, PointSceneRfT >::model_votes_

protected

The result of the training.

The vector between each model point and the centroid of the model adjusted by its local reference frame.

Definition at line 443 of file hough_3d.h.

◆ needs_training_

template<typename PointModelT , typename PointSceneT , typename PointModelRfT = pcl::ReferenceFrame, typename PointSceneRfT = pcl::ReferenceFrame>

bool pcl::Hough3DGrouping< PointModelT, PointSceneT, PointModelRfT, PointSceneRfT >::needs_training_ {true}

protected

If the training of the Hough space is needed; set on change of either the input cloud or the input_rf.

Definition at line 440 of file hough_3d.h.

Referenced by pcl::Hough3DGrouping< PointModelT, PointSceneT, PointModelRfT, PointSceneRfT >::setInputCloud(), pcl::Hough3DGrouping< PointModelT, PointSceneT, PointModelRfT, PointSceneRfT >::setInputRf(), pcl::Hough3DGrouping< PointModelT, PointSceneT, PointModelRfT, PointSceneRfT >::setLocalRfNormalsSearchRadius(), and pcl::Hough3DGrouping< PointModelT, PointSceneT, PointModelRfT, PointSceneRfT >::setLocalRfSearchRadius().

◆ scene_rf_

template<typename PointModelT , typename PointSceneT , typename PointModelRfT = pcl::ReferenceFrame, typename PointSceneRfT = pcl::ReferenceFrame>

SceneRfCloudConstPtr pcl::Hough3DGrouping< PointModelT, PointSceneT, PointModelRfT, PointSceneRfT >::scene_rf_

protected

The scene Rf cloud.

Definition at line 437 of file hough_3d.h.

Referenced by pcl::Hough3DGrouping< PointModelT, PointSceneT, PointModelRfT, PointSceneRfT >::getSceneRf(), pcl::Hough3DGrouping< PointModelT, PointSceneT, PointModelRfT, PointSceneRfT >::setSceneCloud(), and pcl::Hough3DGrouping< PointModelT, PointSceneT, PointModelRfT, PointSceneRfT >::setSceneRf().

◆ use_distance_weight_

template<typename PointModelT , typename PointSceneT , typename PointModelRfT = pcl::ReferenceFrame, typename PointSceneRfT = pcl::ReferenceFrame>

bool pcl::Hough3DGrouping< PointModelT, PointSceneT, PointModelRfT, PointSceneRfT >::use_distance_weight_ {false}

protected

Use the weighted correspondence distance when casting votes.

Definition at line 455 of file hough_3d.h.

Referenced by pcl::Hough3DGrouping< PointModelT, PointSceneT, PointModelRfT, PointSceneRfT >::getUseDistanceWeight(), and pcl::Hough3DGrouping< PointModelT, PointSceneT, PointModelRfT, PointSceneRfT >::setUseDistanceWeight().

◆ use_interpolation_

template<typename PointModelT , typename PointSceneT , typename PointModelRfT = pcl::ReferenceFrame, typename PointSceneRfT = pcl::ReferenceFrame>

bool pcl::Hough3DGrouping< PointModelT, PointSceneT, PointModelRfT, PointSceneRfT >::use_interpolation_ {true}

protected

Use the interpolation between neighboring Hough bins when casting votes.

Definition at line 452 of file hough_3d.h.

Referenced by pcl::Hough3DGrouping< PointModelT, PointSceneT, PointModelRfT, PointSceneRfT >::getUseInterpolation(), and pcl::Hough3DGrouping< PointModelT, PointSceneT, PointModelRfT, PointSceneRfT >::setUseInterpolation().

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

pcl/recognition/cg/hough_3d.h
pcl/recognition/impl/cg/hough_3d.hpp

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

template<typename PointModelT, typename PointSceneT, typename PointModelRfT = pcl::ReferenceFrame, typename PointSceneRfT = pcl::ReferenceFrame> class pcl::Hough3DGrouping< PointModelT, PointSceneT, PointModelRfT, PointSceneRfT >

Member Typedef Documentation

◆ ModelRfCloud

◆ ModelRfCloudConstPtr

◆ ModelRfCloudPtr

◆ PointCloud

◆ PointCloudConstPtr

◆ PointCloudPtr

◆ SceneCloudConstPtr

◆ SceneRfCloud

◆ SceneRfCloudConstPtr

◆ SceneRfCloudPtr

Constructor & Destructor Documentation

◆ Hough3DGrouping()

Member Function Documentation

◆ clusterCorrespondences()

◆ computeRf()

◆ getHoughBinSize()

◆ getHoughThreshold()

◆ getInputRf()

◆ getLocalRfNormalsSearchRadius()

◆ getLocalRfSearchRadius()

◆ getSceneRf()

◆ getUseDistanceWeight()

◆ getUseInterpolation()

◆ houghVoting()

◆ recognize() [1/2]

◆ recognize() [2/2]

◆ setHoughBinSize()

◆ setHoughThreshold()

◆ setInputCloud()

◆ setInputRf()

◆ setLocalRfNormalsSearchRadius()

◆ setLocalRfSearchRadius()

◆ setModelSceneCorrespondences()

◆ setSceneCloud()

◆ setSceneRf()

◆ setUseDistanceWeight()

◆ setUseInterpolation()

◆ train()

Member Data Documentation

◆ found_transformations_

◆ hough_bin_size_

◆ hough_space_

◆ hough_space_initialized_

◆ hough_threshold_

◆ input_rf_

◆ local_rf_normals_search_radius_

◆ local_rf_search_radius_

◆ model_votes_

◆ needs_training_

◆ scene_rf_

◆ use_distance_weight_

◆ use_interpolation_

template<typename PointModelT, typename PointSceneT, typename PointModelRfT = pcl::ReferenceFrame, typename PointSceneRfT = pcl::ReferenceFrame>
class pcl::Hough3DGrouping< PointModelT, PointSceneT, PointModelRfT, PointSceneRfT >