Point Cloud Library (PCL)  1.9.1-dev
List of all members | Public Types | Public Member Functions | Protected Attributes
pcl::people::HeadBasedSubclustering< PointT > Class Template Reference

HeadBasedSubclustering represents a class for searching for people inside a HeightMap2D based on a 3D head detection algorithm More...

#include <pcl/people/head_based_subcluster.h>

Public Types

typedef pcl::PointCloud< PointTPointCloud
 
typedef boost::shared_ptr< PointCloudPointCloudPtr
 
typedef boost::shared_ptr< const PointCloudPointCloudConstPtr
 

Public Member Functions

 HeadBasedSubclustering ()
 Constructor. More...
 
virtual ~HeadBasedSubclustering ()
 Destructor. More...
 
void subcluster (std::vector< pcl::people::PersonCluster< PointT > > &clusters)
 Compute subclusters and return them into a vector of PersonCluster. More...
 
void mergeClustersCloseInFloorCoordinates (std::vector< pcl::people::PersonCluster< PointT > > &input_clusters, std::vector< pcl::people::PersonCluster< PointT > > &output_clusters)
 Merge clusters close in floor coordinates. More...
 
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. More...
 
void setInputCloud (PointCloudPtr &cloud)
 Set input cloud. More...
 
void setGround (Eigen::VectorXf &ground_coeffs)
 Set the ground coefficients. More...
 
void setSensorPortraitOrientation (bool vertical)
 Set sensor orientation to landscape mode (false) or portrait mode (true). More...
 
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). More...
 
void setInitialClusters (std::vector< pcl::PointIndices > &cluster_indices)
 Set initial cluster indices. More...
 
void setHeightLimits (float min_height, float max_height)
 Set minimum and maximum allowed height for a person cluster. More...
 
void setDimensionLimits (int min_points, int max_points)
 Set minimum and maximum allowed number of points for a person cluster. More...
 
void setMinimumDistanceBetweenHeads (float heads_minimum_distance)
 Set minimum distance between persons' heads. More...
 
void getHeightLimits (float &min_height, float &max_height)
 Get minimum and maximum allowed height for a person cluster. More...
 
void getDimensionLimits (int &min_points, int &max_points)
 Get minimum and maximum allowed number of points for a person cluster. More...
 
float getMinimumDistanceBetweenHeads ()
 Get minimum distance between persons' heads. More...
 

Protected Attributes

Eigen::VectorXf ground_coeffs_
 ground plane coefficients More...
 
float sqrt_ground_coeffs_
 ground plane normalization factor More...
 
std::vector< pcl::PointIndicescluster_indices_
 initial clusters indices More...
 
PointCloudPtr cloud_
 pointer to the input cloud More...
 
float max_height_
 person clusters maximum height from the ground plane More...
 
float min_height_
 person clusters minimum height from the ground plane More...
 
bool vertical_
 if true, the sensor is considered to be vertically placed (portrait mode) More...
 
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) More...
 
int max_points_
 maximum number of points for a person cluster More...
 
int min_points_
 minimum number of points for a person cluster More...
 
float heads_minimum_distance_
 minimum distance between persons' heads More...
 

Detailed Description

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

HeadBasedSubclustering represents a class for searching for people inside a HeightMap2D based on a 3D head detection algorithm

Author
Matteo Munaro

Definition at line 55 of file head_based_subcluster.h.

Member Typedef Documentation

Definition at line 62 of file head_based_subcluster.h.

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

Definition at line 64 of file head_based_subcluster.h.

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

Definition at line 63 of file head_based_subcluster.h.

Constructor & Destructor Documentation

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]clusterA PersonCluster.
[in]maxima_number_after_filteringNumber of local maxima to use as centers of the new cluster.
[in]maxima_cloud_indices_filteredCloud indices of local maxima to use as centers of the new cluster.
[out]subclustersOutput vector of PersonCluster objects derived from the input cluster.

Definition at line 195 of file head_based_subcluster.hpp.

References pcl::people::PersonCluster< PointT >::getIndices(), and pcl::PointIndices::indices.

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_pointsMinimum allowed number of points for a person cluster.
[out]max_pointsMaximum 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_heightMinimum allowed height for a person cluster.
[out]max_heightMaximum 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_clustersInput vector of PersonCluster.
[in]output_clustersOutput vector of PersonCluster (after merging).

Definition at line 134 of file head_based_subcluster.hpp.

References pcl::PointIndices::indices.

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_pointsMinimum allowed number of points for a person cluster.
[in]max_pointsMaximum 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_coeffsThe ground plane coefficients.

Definition at line 69 of file head_based_subcluster.hpp.

Referenced by pcl::people::GroundBasedPeopleDetectionApp< PointT >::compute().

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_centroidSet 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_heightMinimum allowed height for a person cluster (default = 1.3).
[in]max_heightMaximum allowed height for a person cluster (default = 2.3).

Definition at line 88 of file head_based_subcluster.hpp.

Referenced by pcl::people::GroundBasedPeopleDetectionApp< PointT >::compute().

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

Set initial cluster indices.

Parameters
[in]cluster_indicesPoint cloud indices corresponding to the initial clusters (before subclustering).

Definition at line 76 of file head_based_subcluster.hpp.

Referenced by pcl::people::GroundBasedPeopleDetectionApp< PointT >::compute().

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

Set input cloud.

Parameters
[in]cloudA pointer to the input point cloud.

Definition at line 63 of file head_based_subcluster.hpp.

Referenced by pcl::people::GroundBasedPeopleDetectionApp< PointT >::compute().

template<typename PointT >
void pcl::people::HeadBasedSubclustering< PointT >::setMinimumDistanceBetweenHeads ( float  heads_minimum_distance)

Set minimum distance between persons' heads.

Parameters
[in]heads_minimum_distanceMinimum allowed distance between persons' heads (default = 0.3).

Definition at line 102 of file head_based_subcluster.hpp.

Referenced by pcl::people::GroundBasedPeopleDetectionApp< PointT >::compute().

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

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

Parameters
[in]verticalLandscape (false) or portrait (true) mode (default = false).

Definition at line 82 of file head_based_subcluster.hpp.

Referenced by pcl::people::GroundBasedPeopleDetectionApp< PointT >::compute().

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

Member Data Documentation

template<typename PointT>
PointCloudPtr pcl::people::HeadBasedSubclustering< PointT >::cloud_
protected

pointer to the input cloud

Definition at line 203 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 200 of file head_based_subcluster.h.

template<typename PointT>
Eigen::VectorXf pcl::people::HeadBasedSubclustering< PointT >::ground_coeffs_
protected

ground plane coefficients

Definition at line 194 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 216 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 225 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 206 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

Definition at line 219 of file head_based_subcluster.h.

template<typename PointT>
float pcl::people::HeadBasedSubclustering< PointT >::min_height_
protected

person clusters minimum height from the ground plane

Definition at line 209 of file head_based_subcluster.h.

template<typename PointT>
int pcl::people::HeadBasedSubclustering< PointT >::min_points_
protected

minimum number of points for a person cluster

Definition at line 222 of file head_based_subcluster.h.

template<typename PointT>
float pcl::people::HeadBasedSubclustering< PointT >::sqrt_ground_coeffs_
protected

ground plane normalization factor

Definition at line 197 of file head_based_subcluster.h.

template<typename PointT>
bool pcl::people::HeadBasedSubclustering< PointT >::vertical_
protected

if true, the sensor is considered to be vertically placed (portrait mode)

Definition at line 212 of file head_based_subcluster.h.


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