Point Cloud Library (PCL)  1.9.1-dev
List of all members | Public Types | Public Member Functions | Public Attributes | Friends
pcl::gpu::people::PeopleDetector Class Reference

#include </__w/1/s/gpu/people/include/pcl/gpu/people/people_detector.h>

Public Types

typedef boost::shared_ptr< PeopleDetectorPtr
 
typedef pcl::PointXYZRGBA PointTC
 
typedef pcl::PointXYZ PointT
 
typedef DeviceArray2D< unsigned short > Depth
 
typedef DeviceArray2D< pcl::RGBImage
 
typedef DeviceArray2D< unsigned char > Labels
 
typedef DeviceArray2D< unsigned char > Mask
 
typedef DeviceArray2D< float > Hue
 

Public Member Functions

 PeopleDetector ()
 Class constructor. More...
 
 ~PeopleDetector ()
 Class destructor. More...
 
void setIntrinsics (float fx, float fy, float cx=-1, float cy=-1)
 User must set non standard intrinsics. More...
 
int process (const PointCloud< PointTC >::ConstPtr &cloud)
 Possible will be removed because of extra overheads. More...
 
int processProb (const PointCloud< PointTC >::ConstPtr &cloud)
 
int process (const Depth &depth, const Image &rgba)
 
void setDeltaHueTolerance (unsigned int delta_hue_tolerance)
 Set the tolerance for the delta on the Hue in Seeded Hue Segmentation step. More...
 
unsigned int getDeltaHueTolerance () const
 Get the tolerance for the delta on the Hue in Seeded Hue Segmentation step, defaults to 5. More...
 
const std::string getClassName () const
 Class getName method. More...
 
int process ()
 
int processProb ()
 Process the depth based on probabilities supporting tracking, person specific files used. More...
 
void allocate_buffers (int rows=480, int cols=640)
 
void shs5 (const pcl::PointCloud< PointT > &cloud, const std::vector< int > &indices, unsigned char *mask)
 

Public Attributes

RDFBodyPartsDetector::Ptr rdf_detector_
 
OrganizedPlaneDetector::Ptr org_plane_detector_
 
FaceDetector::Ptr face_detector_
 
PersonAttribs::Ptr person_attribs_
 
ProbabilityProcessor::Ptr probability_processor_
 
bool first_iteration_
 indicates first time callback (allows for tracking features to start from second frame) More...
 
float fx_
 
float fy_
 
float cx_
 
float cy_
 
unsigned int delta_hue_tolerance_
 
DeviceArray< unsigned char > kernelRect5x5_
 
PointCloud< PointTcloud_host_
 
PointCloud< PointTCcloud_host_color_
 
PointCloud< float > hue_host_
 
PointCloud< unsigned short > depth_host_
 
PointCloud< unsigned char > flowermat_host_
 
DeviceArray2D< PointTcloud_device_
 
Hue hue_device_
 
Depth depth_device1_
 
Depth depth_device2_
 
Mask fg_mask_
 
Mask fg_mask_grown_
 

Friends

class PeoplePCDApp
 !! only for debug purposes TODO: remove this. More...
 

Detailed Description

Definition at line 68 of file people_detector.h.

Member Typedef Documentation

Definition at line 75 of file people_detector.h.

Definition at line 127 of file people_detector.h.

Definition at line 76 of file people_detector.h.

Definition at line 125 of file people_detector.h.

Definition at line 126 of file people_detector.h.

Definition at line 74 of file people_detector.h.

Definition at line 73 of file people_detector.h.

Definition at line 71 of file people_detector.h.

Constructor & Destructor Documentation

pcl::gpu::people::PeopleDetector::PeopleDetector ( )

Class constructor.

pcl::gpu::people::PeopleDetector::~PeopleDetector ( )
inline

Class destructor.

Definition at line 92 of file people_detector.h.

Member Function Documentation

void pcl::gpu::people::PeopleDetector::allocate_buffers ( int  rows = 480,
int  cols = 640 
)
const std::string pcl::gpu::people::PeopleDetector::getClassName ( ) const
inline

Class getName method.

Definition at line 123 of file people_detector.h.

unsigned int pcl::gpu::people::PeopleDetector::getDeltaHueTolerance ( ) const
inline

Get the tolerance for the delta on the Hue in Seeded Hue Segmentation step, defaults to 5.

Definition at line 117 of file people_detector.h.

int pcl::gpu::people::PeopleDetector::process ( const PointCloud< PointTC >::ConstPtr &  cloud)

Possible will be removed because of extra overheads.

int pcl::gpu::people::PeopleDetector::process ( const Depth depth,
const Image rgba 
)
int pcl::gpu::people::PeopleDetector::process ( )
int pcl::gpu::people::PeopleDetector::processProb ( const PointCloud< PointTC >::ConstPtr &  cloud)
int pcl::gpu::people::PeopleDetector::processProb ( )

Process the depth based on probabilities supporting tracking, person specific files used.

void pcl::gpu::people::PeopleDetector::setDeltaHueTolerance ( unsigned int  delta_hue_tolerance)
inline

Set the tolerance for the delta on the Hue in Seeded Hue Segmentation step.

Definition at line 110 of file people_detector.h.

void pcl::gpu::people::PeopleDetector::setIntrinsics ( float  fx,
float  fy,
float  cx = -1,
float  cy = -1 
)

User must set non standard intrinsics.

void pcl::gpu::people::PeopleDetector::shs5 ( const pcl::PointCloud< PointT > &  cloud,
const std::vector< int > &  indices,
unsigned char *  mask 
)

Friends And Related Function Documentation

friend class PeoplePCDApp
friend

!! only for debug purposes TODO: remove this.

Definition at line 168 of file people_detector.h.

Member Data Documentation

DeviceArray2D<PointT> pcl::gpu::people::PeopleDetector::cloud_device_

Definition at line 142 of file people_detector.h.

PointCloud<PointT> pcl::gpu::people::PeopleDetector::cloud_host_

Definition at line 136 of file people_detector.h.

PointCloud<PointTC> pcl::gpu::people::PeopleDetector::cloud_host_color_

Definition at line 137 of file people_detector.h.

float pcl::gpu::people::PeopleDetector::cx_

Definition at line 131 of file people_detector.h.

float pcl::gpu::people::PeopleDetector::cy_

Definition at line 131 of file people_detector.h.

unsigned int pcl::gpu::people::PeopleDetector::delta_hue_tolerance_

Definition at line 132 of file people_detector.h.

Depth pcl::gpu::people::PeopleDetector::depth_device1_

Definition at line 146 of file people_detector.h.

Depth pcl::gpu::people::PeopleDetector::depth_device2_

Definition at line 147 of file people_detector.h.

PointCloud<unsigned short> pcl::gpu::people::PeopleDetector::depth_host_

Definition at line 139 of file people_detector.h.

FaceDetector::Ptr pcl::gpu::people::PeopleDetector::face_detector_

Definition at line 81 of file people_detector.h.

Mask pcl::gpu::people::PeopleDetector::fg_mask_

Definition at line 149 of file people_detector.h.

Mask pcl::gpu::people::PeopleDetector::fg_mask_grown_

Definition at line 150 of file people_detector.h.

bool pcl::gpu::people::PeopleDetector::first_iteration_

indicates first time callback (allows for tracking features to start from second frame)

Definition at line 130 of file people_detector.h.

PointCloud<unsigned char> pcl::gpu::people::PeopleDetector::flowermat_host_

Definition at line 140 of file people_detector.h.

float pcl::gpu::people::PeopleDetector::fx_

Definition at line 131 of file people_detector.h.

float pcl::gpu::people::PeopleDetector::fy_

Definition at line 131 of file people_detector.h.

Hue pcl::gpu::people::PeopleDetector::hue_device_

Definition at line 144 of file people_detector.h.

PointCloud<float> pcl::gpu::people::PeopleDetector::hue_host_

Definition at line 138 of file people_detector.h.

DeviceArray<unsigned char> pcl::gpu::people::PeopleDetector::kernelRect5x5_

Definition at line 134 of file people_detector.h.

OrganizedPlaneDetector::Ptr pcl::gpu::people::PeopleDetector::org_plane_detector_

Definition at line 80 of file people_detector.h.

PersonAttribs::Ptr pcl::gpu::people::PeopleDetector::person_attribs_

Definition at line 85 of file people_detector.h.

ProbabilityProcessor::Ptr pcl::gpu::people::PeopleDetector::probability_processor_

Definition at line 86 of file people_detector.h.

RDFBodyPartsDetector::Ptr pcl::gpu::people::PeopleDetector::rdf_detector_

Definition at line 79 of file people_detector.h.


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