#include <ground_based_people_detection_app.h>

Public Types
typedef pcl::PointCloud< PointT >	PointCloud
typedef boost::shared_ptr < const PointCloud >	PointCloudConstPtr
typedef boost::shared_ptr < PointCloud >	PointCloudPtr
Public Member Functions
bool	compute (std::vector< pcl::people::PersonCluster< PointT > > &clusters)
	Perform people detection on the input data and return people clusters information.
void	extractRGBFromPointCloud (PointCloudPtr input_cloud, pcl::PointCloud< pcl::RGB >::Ptr &output_cloud)
	Extract RGB information from a point cloud and output the corresponding RGB point cloud.
void	getDimensionLimits (int &min_points, int &max_points)
	Get minimum and maximum allowed number of points for a person cluster.
Eigen::VectorXf	getGround ()
	Get floor coefficients.
void	getHeightLimits (float &min_height, float &max_height)
	Get minimum and maximum allowed height for a person cluster.
float	getMinimumDistanceBetweenHeads ()
	Get minimum distance between persons' heads.
PointCloudPtr	getNoGroundCloud ()
	Get pointcloud after voxel grid filtering and ground removal.
	GroundBasedPeopleDetectionApp ()
	Constructor.
void	setClassifier (pcl::people::PersonClassifier< pcl::RGB > person_classifier)
	Set SVM-based person classifier.
void	setDimensionLimits (int min_points, int max_points)
	Set minimum and maximum allowed number of points for a person cluster.
void	setGround (Eigen::VectorXf &ground_coeffs)
	Set the ground coefficients.
void	setHeadCentroid (bool head_centroid)
	Set head_centroid_ to true (person centroid is in the head) or false (person centroid is the whole body centroid).
void	setHeightLimits (float min_height, float max_height)
	Set minimum and maximum allowed height for a person cluster.
void	setInputCloud (PointCloudPtr &cloud)
	Set the pointer to the input cloud.
void	setIntrinsics (Eigen::Matrix3f intrinsics_matrix)
	Set intrinsic parameters of the RGB camera.
void	setMinimumDistanceBetweenHeads (float heads_minimum_distance)
	Set minimum distance between persons' heads.
void	setSamplingFactor (int sampling_factor)
	Set sampling factor.
void	setSensorPortraitOrientation (bool vertical)
	Set sensor orientation (vertical = true means portrait mode, vertical = false means landscape mode).
void	setVoxelSize (float voxel_size)
	Set voxel size.
void	swapDimensions (pcl::PointCloud< pcl::RGB >::Ptr &cloud)
	Swap rows/cols dimensions of a RGB point cloud (90 degrees counterclockwise rotation).
virtual	~GroundBasedPeopleDetectionApp ()
	Destructor.
Protected Attributes
PointCloudPtr	cloud_
	pointer to the input cloud
bool	dimension_limits_set_
	true if min_points and max_points have been set by the user, false otherwise
Eigen::VectorXf	ground_coeffs_
	ground plane coefficients
bool	head_centroid_
	if true, the person centroid is computed as the centroid of the cluster points belonging to the head; if false, the person centroid is computed as the centroid of the whole cluster points (default = true)
float	heads_minimum_distance_
	minimum distance between persons' heads
Eigen::Matrix3f	intrinsics_matrix_
	intrinsic parameters matrix of the RGB camera
float	max_height_
	person clusters maximum height from the ground plane
int	max_points_
	maximum number of points for a person cluster
float	min_height_
	person clusters minimum height from the ground plane
int	min_points_
	minimum number of points for a person cluster
PointCloudPtr	no_ground_cloud_
	pointer to the cloud after voxel grid filtering and ground removal
pcl::people::PersonClassifier < pcl::RGB >	person_classifier_
	SVM-based person classifier.
bool	person_classifier_set_flag_
	flag stating if the classifier has been set or not
pcl::PointCloud< pcl::RGB >::Ptr	rgb_image_
	pointer to a RGB cloud corresponding to cloud_
int	sampling_factor_
	sampling factor used to downsample the point cloud
float	sqrt_ground_coeffs_
	ground plane normalization factor
bool	vertical_
	if true, the sensor is considered to be vertically placed (portrait mode)
float	voxel_size_
	voxel size

Detailed Description

template<typename PointT>
class pcl::people::GroundBasedPeopleDetectionApp< PointT >

Definition at line 71 of file ground_based_people_detection_app.h.

Member Typedef Documentation

template<typename PointT>

typedef pcl::PointCloud<PointT> pcl::people::GroundBasedPeopleDetectionApp< PointT >::PointCloud

Definition at line 75 of file ground_based_people_detection_app.h.

template<typename PointT>

typedef boost::shared_ptr<const PointCloud> pcl::people::GroundBasedPeopleDetectionApp< PointT >::PointCloudConstPtr

Definition at line 77 of file ground_based_people_detection_app.h.

template<typename PointT>

typedef boost::shared_ptr<PointCloud> pcl::people::GroundBasedPeopleDetectionApp< PointT >::PointCloudPtr

Definition at line 76 of file ground_based_people_detection_app.h.

Constructor & Destructor Documentation

template<typename PointT >

pcl::people::GroundBasedPeopleDetectionApp< PointT >::GroundBasedPeopleDetectionApp ( )

Constructor.

Definition at line 47 of file ground_based_people_detection_app.hpp.

template<typename PointT >

pcl::people::GroundBasedPeopleDetectionApp< PointT >::~GroundBasedPeopleDetectionApp ( ) [virtual]

Destructor.

Definition at line 333 of file ground_based_people_detection_app.hpp.

Member Function Documentation

template<typename PointT>

bool pcl::people::GroundBasedPeopleDetectionApp< PointT >::compute ( std::vector< pcl::people::PersonCluster< PointT > > & clusters )

Perform people detection on the input data and return people clusters information.

Parameters:

[out] clusters Vector of PersonCluster.

Returns:: true if the compute operation is succesful, false otherwise.

Definition at line 214 of file ground_based_people_detection_app.hpp.

template<typename PointT >

void pcl::people::GroundBasedPeopleDetectionApp< PointT >::extractRGBFromPointCloud	(	PointCloudPtr	input_cloud,
		pcl::PointCloud< pcl::RGB >::Ptr &	output_cloud
	)

Extract RGB information from a point cloud and output the corresponding RGB point cloud.

Parameters:

[in]	input_cloud	A pointer to a point cloud containing also RGB information.
[out]	output_cloud	A pointer to a RGB point cloud.

Definition at line 176 of file ground_based_people_detection_app.hpp.

template<typename PointT >

void pcl::people::GroundBasedPeopleDetectionApp< PointT >::getDimensionLimits	(	int &	min_points,
		int &	max_points
	)

Get minimum and maximum allowed number of points for a person cluster.

Parameters:

[out]	min_points	Minimum allowed number of points for a person cluster.
[out]	max_points	Maximum allowed number of points for a person cluster.

Definition at line 147 of file ground_based_people_detection_app.hpp.

template<typename PointT >

Eigen::VectorXf pcl::people::GroundBasedPeopleDetectionApp< PointT >::getGround ( )

Get floor coefficients.

Definition at line 160 of file ground_based_people_detection_app.hpp.

template<typename PointT >

void pcl::people::GroundBasedPeopleDetectionApp< PointT >::getHeightLimits	(	float &	min_height,
		float &	max_height
	)

Get minimum and maximum allowed height for a person cluster.

Parameters:

[out]	min_height	Minimum allowed height for a person cluster.
[out]	max_height	Maximum allowed height for a person cluster.

Definition at line 140 of file ground_based_people_detection_app.hpp.

template<typename PointT >

float pcl::people::GroundBasedPeopleDetectionApp< PointT >::getMinimumDistanceBetweenHeads ( )

Get minimum distance between persons' heads.

Definition at line 154 of file ground_based_people_detection_app.hpp.

template<typename PointT >

pcl::people::GroundBasedPeopleDetectionApp< PointT >::PointCloudPtr pcl::people::GroundBasedPeopleDetectionApp< PointT >::getNoGroundCloud ( )

Get pointcloud after voxel grid filtering and ground removal.

Definition at line 170 of file ground_based_people_detection_app.hpp.

template<typename PointT >

void pcl::people::GroundBasedPeopleDetectionApp< PointT >::setClassifier ( pcl::people::PersonClassifier< pcl::RGB > person_classifier )

Set SVM-based person classifier.

Parameters:

[in] person_classifier Needed for people detection on RGB data.

Definition at line 100 of file ground_based_people_detection_app.hpp.

template<typename PointT >

void pcl::people::GroundBasedPeopleDetectionApp< PointT >::setDimensionLimits	(	int	min_points,
		int	max_points
	)

Set minimum and maximum allowed number of points for a person cluster.

Parameters:

[in]	min_points	Minimum allowed number of points for a person cluster.
[in]	max_points	Maximum allowed number of points for a person cluster.

Definition at line 120 of file ground_based_people_detection_app.hpp.

template<typename PointT >

void pcl::people::GroundBasedPeopleDetectionApp< PointT >::setGround ( Eigen::VectorXf & ground_coeffs )

Set the ground coefficients.

Parameters:

[in] ground_coeffs Vector containing the four plane coefficients.

Definition at line 75 of file ground_based_people_detection_app.hpp.

template<typename PointT >

void pcl::people::GroundBasedPeopleDetectionApp< PointT >::setHeadCentroid ( bool head_centroid )

Set head_centroid_ to true (person centroid is in the head) or false (person centroid is the whole body centroid).

Parameters:

[in] head_centroid Set the location of the person centroid (head or body center) (default = true).

Definition at line 134 of file ground_based_people_detection_app.hpp.

template<typename PointT >

void pcl::people::GroundBasedPeopleDetectionApp< PointT >::setHeightLimits	(	float	min_height,
		float	max_height
	)

Set minimum and maximum allowed height for a person cluster.

Parameters:

[in]	min_height	Minimum allowed height for a person cluster (default = 1.3).
[in]	max_height	Maximum allowed height for a person cluster (default = 2.3).

Definition at line 113 of file ground_based_people_detection_app.hpp.

template<typename PointT >

void pcl::people::GroundBasedPeopleDetectionApp< PointT >::setInputCloud ( PointCloudPtr & cloud )

Set the pointer to the input cloud.

Parameters:

[in] cloud A pointer to the input cloud.

Definition at line 69 of file ground_based_people_detection_app.hpp.

template<typename PointT >

void pcl::people::GroundBasedPeopleDetectionApp< PointT >::setIntrinsics ( Eigen::Matrix3f intrinsics_matrix )

Set intrinsic parameters of the RGB camera.

Parameters:

[in] intrinsics_matrix RGB camera intrinsic parameters matrix.

Definition at line 94 of file ground_based_people_detection_app.hpp.

template<typename PointT >

void pcl::people::GroundBasedPeopleDetectionApp< PointT >::setMinimumDistanceBetweenHeads ( float heads_minimum_distance )

Set minimum distance between persons' heads.

Parameters:

[in] heads_minimum_distance Minimum allowed distance between persons' heads (default = 0.3).

Definition at line 128 of file ground_based_people_detection_app.hpp.

template<typename PointT >

void pcl::people::GroundBasedPeopleDetectionApp< PointT >::setSamplingFactor ( int sampling_factor )

Set sampling factor.

Parameters:

[in] sampling_factor Value of the downsampling factor (in each dimension) which is applied to the raw point cloud (default = 1.).

Definition at line 82 of file ground_based_people_detection_app.hpp.

template<typename PointT >

void pcl::people::GroundBasedPeopleDetectionApp< PointT >::setSensorPortraitOrientation ( bool vertical )

Set sensor orientation (vertical = true means portrait mode, vertical = false means landscape mode).

Parameters:

[in] vertical Set landscape/portait camera orientation (default = false).

Definition at line 107 of file ground_based_people_detection_app.hpp.

template<typename PointT >

void pcl::people::GroundBasedPeopleDetectionApp< PointT >::setVoxelSize ( float voxel_size )

Set voxel size.

Parameters:

[in] voxel_size Value of the voxel dimension (default = 0.06m.).

Definition at line 88 of file ground_based_people_detection_app.hpp.

template<typename PointT >

void pcl::people::GroundBasedPeopleDetectionApp< PointT >::swapDimensions ( pcl::PointCloud< pcl::RGB >::Ptr & cloud )

Swap rows/cols dimensions of a RGB point cloud (90 degrees counterclockwise rotation).

Parameters:

[in,out] cloud A pointer to a RGB point cloud.

Definition at line 197 of file ground_based_people_detection_app.hpp.

Member Data Documentation

template<typename PointT>

PointCloudPtr pcl::people::GroundBasedPeopleDetectionApp< PointT >::cloud_ [protected]

pointer to the input cloud

Definition at line 252 of file ground_based_people_detection_app.h.

template<typename PointT>

bool pcl::people::GroundBasedPeopleDetectionApp< PointT >::dimension_limits_set_ [protected]

true if min_points and max_points have been set by the user, false otherwise

Definition at line 280 of file ground_based_people_detection_app.h.

template<typename PointT>

Eigen::VectorXf pcl::people::GroundBasedPeopleDetectionApp< PointT >::ground_coeffs_ [protected]

ground plane coefficients

Definition at line 246 of file ground_based_people_detection_app.h.

template<typename PointT>

bool pcl::people::GroundBasedPeopleDetectionApp< PointT >::head_centroid_ [protected]

if true, the person centroid is computed as the centroid of the cluster points belonging to the head; if false, the person centroid is computed as the centroid of the whole cluster points (default = true)

Definition at line 271 of file ground_based_people_detection_app.h.

template<typename PointT>

float pcl::people::GroundBasedPeopleDetectionApp< PointT >::heads_minimum_distance_ [protected]

minimum distance between persons' heads

Definition at line 283 of file ground_based_people_detection_app.h.

template<typename PointT>

Eigen::Matrix3f pcl::people::GroundBasedPeopleDetectionApp< PointT >::intrinsics_matrix_ [protected]

intrinsic parameters matrix of the RGB camera

Definition at line 286 of file ground_based_people_detection_app.h.

template<typename PointT>

float pcl::people::GroundBasedPeopleDetectionApp< PointT >::max_height_ [protected]

person clusters maximum height from the ground plane