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. More...

#include <hough_3d.h>

Public Member Functions
double	findMaxima (double min_threshold, std::vector< double > &maxima_values, std::vector< std::vector< int > > &maxima_voter_ids)
	Find the bins with most votes.
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	HoughSpace3D (const Eigen::Vector3d &min_coord, const Eigen::Vector3d &bin_size, const Eigen::Vector3d &max_coord)
	Constructor.
void	reset ()
	Reset all cast votes.
int	vote (const Eigen::Vector3d &single_vote_coord, double weight, int voter_id)
	Casting a vote for a given position in the Hough space.
int	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.
Protected Attributes
Eigen::Vector3i	bin_count_
	Number of bins for each dimension.
Eigen::Vector3d	bin_size_
	Size of each bin in the Hough Space.
std::vector< double >	hough_space_
	The Hough Space.
Eigen::Vector3d	min_coord_
	Minimum coordinate in the Hough Space.
int	partial_bin_products_ [4]
	Used to access hough_space_ as if it was a matrix.
int	total_bins_count_
	Total number of bins in the Hough Space.
boost::unordered_map< int, std::vector< int > >	voter_ids_
	List of voters for each bin.

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 54 of file hough_3d.h.

Constructor & Destructor Documentation

EIGEN_MAKE_ALIGNED_OPERATOR_NEW 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

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.

Definition at line 207 of file hough_3d.cpp.

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

Reset all cast votes.

Definition at line 72 of file hough_3d.cpp.

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.

Definition at line 82 of file hough_3d.cpp.

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.