Point Cloud Library (PCL)  1.9.1-dev
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pcl::gpu::people::PeopleDetector Class Reference

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

Public Types

using Ptr = boost::shared_ptr< PeopleDetector >
 
using ConstPtr = boost::shared_ptr< const PeopleDetector >
 
using PointTC = pcl::PointXYZRGBA
 
using PointT = pcl::PointXYZ
 
using Depth = DeviceArray2D< unsigned short >
 
using Image = DeviceArray2D< pcl::RGB >
 
using Labels = DeviceArray2D< unsigned char >
 
using Mask = DeviceArray2D< unsigned char >
 
using Hue = DeviceArray2D< float >
 

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 62 of file people_detector.h.

Member Typedef Documentation

◆ ConstPtr

Definition at line 66 of file people_detector.h.

◆ Depth

Definition at line 70 of file people_detector.h.

◆ Hue

Definition at line 122 of file people_detector.h.

◆ Image

Definition at line 71 of file people_detector.h.

◆ Labels

Definition at line 120 of file people_detector.h.

◆ Mask

Definition at line 121 of file people_detector.h.

◆ PointT

Definition at line 69 of file people_detector.h.

◆ PointTC

Definition at line 68 of file people_detector.h.

◆ Ptr

Definition at line 65 of file people_detector.h.

Constructor & Destructor Documentation

◆ PeopleDetector()

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

Class constructor.

◆ ~PeopleDetector()

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

Class destructor.

Definition at line 87 of file people_detector.h.

Member Function Documentation

◆ allocate_buffers()

void pcl::gpu::people::PeopleDetector::allocate_buffers ( int  rows = 480,
int  cols = 640 
)

◆ getClassName()

const std::string pcl::gpu::people::PeopleDetector::getClassName ( ) const
inline

Class getName method.

Definition at line 118 of file people_detector.h.

◆ getDeltaHueTolerance()

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 112 of file people_detector.h.

◆ process() [1/3]

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

Possible will be removed because of extra overheads.

◆ process() [2/3]

int pcl::gpu::people::PeopleDetector::process ( const Depth depth,
const Image rgba 
)

◆ process() [3/3]

int pcl::gpu::people::PeopleDetector::process ( )

◆ processProb() [1/2]

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

◆ processProb() [2/2]

int pcl::gpu::people::PeopleDetector::processProb ( )

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

◆ setDeltaHueTolerance()

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 105 of file people_detector.h.

◆ setIntrinsics()

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

User must set non standard intrinsics.

◆ shs5()

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

Friends And Related Function Documentation

◆ PeoplePCDApp

friend class PeoplePCDApp
friend

!! only for debug purposes TODO: remove this.

Definition at line 163 of file people_detector.h.

Member Data Documentation

◆ cloud_device_

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

Definition at line 137 of file people_detector.h.

◆ cloud_host_

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

Definition at line 131 of file people_detector.h.

◆ cloud_host_color_

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

Definition at line 132 of file people_detector.h.

◆ cx_

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

Definition at line 126 of file people_detector.h.

◆ cy_

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

Definition at line 126 of file people_detector.h.

◆ delta_hue_tolerance_

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

Definition at line 127 of file people_detector.h.

◆ depth_device1_

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

Definition at line 141 of file people_detector.h.

◆ depth_device2_

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

Definition at line 142 of file people_detector.h.

◆ depth_host_

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

Definition at line 134 of file people_detector.h.

◆ face_detector_

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

Definition at line 76 of file people_detector.h.

◆ fg_mask_

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

Definition at line 144 of file people_detector.h.

◆ fg_mask_grown_

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

Definition at line 145 of file people_detector.h.

◆ first_iteration_

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

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

Definition at line 125 of file people_detector.h.

◆ flowermat_host_

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

Definition at line 135 of file people_detector.h.

◆ fx_

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

Definition at line 126 of file people_detector.h.

◆ fy_

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

Definition at line 126 of file people_detector.h.

◆ hue_device_

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

Definition at line 139 of file people_detector.h.

◆ hue_host_

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

Definition at line 133 of file people_detector.h.

◆ kernelRect5x5_

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

Definition at line 129 of file people_detector.h.

◆ org_plane_detector_

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

Definition at line 75 of file people_detector.h.

◆ person_attribs_

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

Definition at line 80 of file people_detector.h.

◆ probability_processor_

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

Definition at line 81 of file people_detector.h.

◆ rdf_detector_

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

Definition at line 74 of file people_detector.h.


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