#include <head_based_subcluster.h>

Public Types
typedef pcl::PointCloud< PointT >	PointCloud
typedef boost::shared_ptr < const PointCloud >	PointCloudConstPtr
typedef boost::shared_ptr < PointCloud >	PointCloudPtr
Public Member Functions
void	createSubClusters (pcl::people::PersonCluster< PointT > &cluster, int maxima_number_after_filtering, std::vector< int > &maxima_cloud_indices_filtered, std::vector< pcl::people::PersonCluster< PointT > > &subclusters)
	Create subclusters centered on the heads position from the current cluster.
void	getDimensionLimits (int &min_points, int &max_points)
	Get minimum and maximum allowed number of points for a person cluster.
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.
	HeadBasedSubclustering ()
	Constructor.
void	mergeClustersCloseInFloorCoordinates (std::vector< pcl::people::PersonCluster< PointT > > &input_clusters, std::vector< pcl::people::PersonCluster< PointT > > &output_clusters)
	Merge clusters close in floor coordinates.
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	setInitialClusters (std::vector< pcl::PointIndices > &cluster_indices)
	Set initial cluster indices.
void	setInputCloud (PointCloudPtr &cloud)
	Set input cloud.
void	setMinimumDistanceBetweenHeads (float heads_minimum_distance)
	Set minimum distance between persons' heads.
void	setSensorPortraitOrientation (bool vertical)
	Set sensor orientation to landscape mode (false) or portrait mode (true).
void	subcluster (std::vector< pcl::people::PersonCluster< PointT > > &clusters)
	Compute subclusters and return them into a vector of PersonCluster.
virtual	~HeadBasedSubclustering ()
	Destructor.
Protected Attributes
PointCloudPtr	cloud_
	pointer to the input cloud
std::vector< pcl::PointIndices >	cluster_indices_
	initial clusters indices
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
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
float	sqrt_ground_coeffs_
	ground plane normalization factor
bool	vertical_
	if true, the sensor is considered to be vertically placed (portrait mode)

Detailed Description

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

Definition at line 59 of file head_based_subcluster.h.

Member Typedef Documentation

template<typename PointT>

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

Definition at line 63 of file head_based_subcluster.h.

template<typename PointT>

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

Definition at line 65 of file head_based_subcluster.h.

template<typename PointT>

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

Definition at line 64 of file head_based_subcluster.h.

Constructor & Destructor Documentation

template<typename PointT >

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

Constructor.

Definition at line 47 of file head_based_subcluster.hpp.

template<typename PointT >

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

Destructor.

Definition at line 336 of file head_based_subcluster.hpp.

Member Function Documentation

template<typename PointT >

void pcl::people::HeadBasedSubclustering< PointT >::createSubClusters	(	pcl::people::PersonCluster< PointT > &	cluster,
		int	maxima_number_after_filtering,
		std::vector< int > &	maxima_cloud_indices_filtered,
		std::vector< pcl::people::PersonCluster< PointT > > &	subclusters
	)

Create subclusters centered on the heads position from the current cluster.

Parameters:

[in]	cluster	A PersonCluster.
[in]	maxima_number	Number of local maxima to use as centers of the new cluster.
[in]	maxima_cloud_indices	Cloud indices of local maxima to use as centers of the new cluster.
[out]	subclusters	Output vector of PersonCluster objects derived from the input cluster.

Definition at line 195 of file head_based_subcluster.hpp.

template<typename PointT >

void pcl::people::HeadBasedSubclustering< 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 121 of file head_based_subcluster.hpp.

template<typename PointT >

void pcl::people::HeadBasedSubclustering< 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 114 of file head_based_subcluster.hpp.

template<typename PointT >

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

Get minimum distance between persons' heads.

Definition at line 128 of file head_based_subcluster.hpp.

template<typename PointT >

void pcl::people::HeadBasedSubclustering< PointT >::mergeClustersCloseInFloorCoordinates	(	std::vector< pcl::people::PersonCluster< PointT > > &	input_clusters,
		std::vector< pcl::people::PersonCluster< PointT > > &	output_clusters
	)

Merge clusters close in floor coordinates.

Parameters:

[in]	input_clusters	Input vector of PersonCluster.
[in]	output_clusters	Output vector of PersonCluster (after merging).

Definition at line 134 of file head_based_subcluster.hpp.

template<typename PointT >

void pcl::people::HeadBasedSubclustering< 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 95 of file head_based_subcluster.hpp.

template<typename PointT >

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

Set the ground coefficients.

Parameters:

[in] ground_coeffs The ground plane coefficients.

Definition at line 69 of file head_based_subcluster.hpp.

template<typename PointT >

void pcl::people::HeadBasedSubclustering< 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 108 of file head_based_subcluster.hpp.

template<typename PointT >

void pcl::people::HeadBasedSubclustering< 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 88 of file head_based_subcluster.hpp.

template<typename PointT >

void pcl::people::HeadBasedSubclustering< PointT >::setInitialClusters ( std::vector< pcl::PointIndices > & cluster_indices )

Set initial cluster indices.

Parameters:

[in] cluster_indices Point cloud indices corresponding to the initial clusters (before subclustering).

Definition at line 76 of file head_based_subcluster.hpp.

template<typename PointT >

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

Set input cloud.

Parameters:

[in] cloud A pointer to the input point cloud.

Definition at line 63 of file head_based_subcluster.hpp.

template<typename PointT >

void pcl::people::HeadBasedSubclustering< 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 102 of file head_based_subcluster.hpp.

template<typename PointT >

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

Set sensor orientation to landscape mode (false) or portrait mode (true).

Parameters:

[in] vertical Landscape (false) or portrait (true) mode (default = false).

Definition at line 82 of file head_based_subcluster.hpp.

template<typename PointT >

void pcl::people::HeadBasedSubclustering< PointT >::subcluster ( std::vector< pcl::people::PersonCluster< PointT > > & clusters )

Compute subclusters and return them into a vector of PersonCluster.

Parameters:

[in] clusters Vector of PersonCluster.

Definition at line 255 of file head_based_subcluster.hpp.

Member Data Documentation

template<typename PointT>

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

pointer to the input cloud

Definition at line 204 of file head_based_subcluster.h.

template<typename PointT>

std::vector<pcl::PointIndices> pcl::people::HeadBasedSubclustering< PointT >::cluster_indices_ [protected]

initial clusters indices

Definition at line 201 of file head_based_subcluster.h.

template<typename PointT>

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

ground plane coefficients

Definition at line 195 of file head_based_subcluster.h.

template<typename PointT>

bool pcl::people::HeadBasedSubclustering< 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 217 of file head_based_subcluster.h.

template<typename PointT>

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

minimum distance between persons' heads

Definition at line 226 of file head_based_subcluster.h.

template<typename PointT>

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

person clusters maximum height from the ground plane

Definition at line 207 of file head_based_subcluster.h.

template<typename PointT>

int pcl::people::HeadBasedSubclustering< PointT >::max_points_ [protected]

maximum number of points for a person cluster