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

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

Public Types

typedef boost::shared_ptr< RDFBodyPartsDetectorPtr
 
typedef std::vector< std::vector< Blob2, Eigen::aligned_allocator< Blob2 > > > BlobMatrix
 
typedef DeviceArray2D< unsigned char > Labels
 
typedef DeviceArray2D< unsigned short > Depth
 
typedef DeviceArray2D< pcl::RGBImage
 

Public Member Functions

 RDFBodyPartsDetector (const std::vector< std::string > &tree_files, int default_buffer_rows=480, int default_buffer_cols=640)
 This is the constructor. More...
 
void process (const Depth &depth, const PointCloud< PointXYZ > &cloud, int min_pts_per_cluster)
 This function does the complete RDF evaluation in a discrete manner and builds the blob matrix. More...
 
void processProb (const Depth &depth)
 This function processes based on the RDF with probabilistic voting scheme. More...
 
void processSmooth (const Depth &depth, const PointCloud< PointXYZ > &cloud, int min_pts_per_cluster)
 This smooths the labels and does the connected components. More...
 
int processRelations ()
 This processes the blob_matrix_. More...
 
int processRelations (PersonAttribs::Ptr person_attribs)
 This processes the blob_matrix_. More...
 
const LabelsgetLabels () const
 
const pcl::device::LabelProbabilitygetProbability () const
 
const pcl::device::LabelProbabilitygetProbability1 () const
 
const pcl::device::LabelProbabilitygetProbability2 () const
 
const pcl::device::LabelProbabilitygetPrevProbability1 () const
 
const pcl::device::LabelProbabilitygetPrevProbability2 () const
 
size_t getNumberTrees () const
 
const BlobMatrixgetBlobMatrix () const
 

Public Attributes

Labels labels_
 This contains the final body part labels. More...
 
Labels labels_smoothed_
 This contains the smoothed final body part labels. More...
 
pcl::device::LabelProbability P_l_
 These contain the histograms of the labels for this detector. More...
 
pcl::device::LabelProbability P_l_Gaus_
 
pcl::device::LabelProbability P_l_Gaus_Temp_
 
pcl::device::LabelProbability P_l_1_
 
pcl::device::LabelProbability P_l_2_
 
pcl::device::LabelProbability P_l_prev_1_
 These contain the histograms of the labels for this detector of the previous timestep. More...
 
pcl::device::LabelProbability P_l_prev_2_
 

Detailed Description

Definition at line 63 of file bodyparts_detector.h.

Member Typedef Documentation

typedef std::vector<std::vector<Blob2, Eigen::aligned_allocator<Blob2> > > pcl::gpu::people::RDFBodyPartsDetector::BlobMatrix

Definition at line 67 of file bodyparts_detector.h.

Definition at line 70 of file bodyparts_detector.h.

Definition at line 71 of file bodyparts_detector.h.

Definition at line 69 of file bodyparts_detector.h.

Definition at line 66 of file bodyparts_detector.h.

Constructor & Destructor Documentation

pcl::gpu::people::RDFBodyPartsDetector::RDFBodyPartsDetector ( const std::vector< std::string > &  tree_files,
int  default_buffer_rows = 480,
int  default_buffer_cols = 640 
)

This is the constructor.

Member Function Documentation

const BlobMatrix& pcl::gpu::people::RDFBodyPartsDetector::getBlobMatrix ( ) const
const Labels& pcl::gpu::people::RDFBodyPartsDetector::getLabels ( ) const
size_t pcl::gpu::people::RDFBodyPartsDetector::getNumberTrees ( ) const
const pcl::device::LabelProbability& pcl::gpu::people::RDFBodyPartsDetector::getPrevProbability1 ( ) const
const pcl::device::LabelProbability& pcl::gpu::people::RDFBodyPartsDetector::getPrevProbability2 ( ) const
const pcl::device::LabelProbability& pcl::gpu::people::RDFBodyPartsDetector::getProbability ( ) const
const pcl::device::LabelProbability& pcl::gpu::people::RDFBodyPartsDetector::getProbability1 ( ) const
const pcl::device::LabelProbability& pcl::gpu::people::RDFBodyPartsDetector::getProbability2 ( ) const
void pcl::gpu::people::RDFBodyPartsDetector::process ( const Depth depth,
const PointCloud< PointXYZ > &  cloud,
int  min_pts_per_cluster 
)

This function does the complete RDF evaluation in a discrete manner and builds the blob matrix.

void pcl::gpu::people::RDFBodyPartsDetector::processProb ( const Depth depth)

This function processes based on the RDF with probabilistic voting scheme.

int pcl::gpu::people::RDFBodyPartsDetector::processRelations ( )

This processes the blob_matrix_.

Returns
negative if failed
int pcl::gpu::people::RDFBodyPartsDetector::processRelations ( PersonAttribs::Ptr  person_attribs)

This processes the blob_matrix_.

Parameters
[in]person_attribsthe custom person parameters
Returns
negative if failed
void pcl::gpu::people::RDFBodyPartsDetector::processSmooth ( const Depth depth,
const PointCloud< PointXYZ > &  cloud,
int  min_pts_per_cluster 
)

This smooths the labels and does the connected components.

Member Data Documentation

Labels pcl::gpu::people::RDFBodyPartsDetector::labels_

This contains the final body part labels.

Definition at line 119 of file bodyparts_detector.h.

Labels pcl::gpu::people::RDFBodyPartsDetector::labels_smoothed_

This contains the smoothed final body part labels.

Definition at line 121 of file bodyparts_detector.h.

pcl::device::LabelProbability pcl::gpu::people::RDFBodyPartsDetector::P_l_

These contain the histograms of the labels for this detector.

Definition at line 124 of file bodyparts_detector.h.

pcl::device::LabelProbability pcl::gpu::people::RDFBodyPartsDetector::P_l_1_

Definition at line 127 of file bodyparts_detector.h.

pcl::device::LabelProbability pcl::gpu::people::RDFBodyPartsDetector::P_l_2_

Definition at line 128 of file bodyparts_detector.h.

pcl::device::LabelProbability pcl::gpu::people::RDFBodyPartsDetector::P_l_Gaus_

Definition at line 125 of file bodyparts_detector.h.

pcl::device::LabelProbability pcl::gpu::people::RDFBodyPartsDetector::P_l_Gaus_Temp_

Definition at line 126 of file bodyparts_detector.h.

pcl::device::LabelProbability pcl::gpu::people::RDFBodyPartsDetector::P_l_prev_1_

These contain the histograms of the labels for this detector of the previous timestep.

Definition at line 131 of file bodyparts_detector.h.

pcl::device::LabelProbability pcl::gpu::people::RDFBodyPartsDetector::P_l_prev_2_

Definition at line 132 of file bodyparts_detector.h.


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