Point Cloud Library (PCL)  1.9.1-dev
ground_based_people_detection_app.h
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36  * ground_based_people_detection_app.h
37  * Created on: Nov 30, 2012
38  * Author: Matteo Munaro
39  */
40 
41 #pragma once
42 
43 #include <pcl/point_types.h>
44 #include <pcl/sample_consensus/sac_model_plane.h>
45 #include <pcl/sample_consensus/ransac.h>
46 #include <pcl/filters/extract_indices.h>
47 #include <pcl/segmentation/extract_clusters.h>
48 #include <pcl/kdtree/kdtree.h>
49 #include <pcl/filters/voxel_grid.h>
50 #include <pcl/people/person_cluster.h>
51 #include <pcl/people/head_based_subcluster.h>
52 #include <pcl/people/person_classifier.h>
53 #include <pcl/common/transforms.h>
54 
55 namespace pcl
56 {
57  namespace people
58  {
59  /** \brief GroundBasedPeopleDetectionApp performs people detection on RGB-D data having as input the ground plane coefficients.
60  * It implements the people detection algorithm described here:
61  * M. Munaro, F. Basso and E. Menegatti,
62  * Tracking people within groups with RGB-D data,
63  * In Proceedings of the International Conference on Intelligent Robots and Systems (IROS) 2012, Vilamoura (Portugal), 2012.
64  *
65  * \author Matteo Munaro
66  * \ingroup people
67  */
68  template <typename PointT> class GroundBasedPeopleDetectionApp;
69 
70  template <typename PointT>
72  {
73  public:
74 
76  using PointCloudPtr = boost::shared_ptr<PointCloud>;
77  using PointCloudConstPtr = boost::shared_ptr<const PointCloud>;
78 
79  /** \brief Constructor. */
81 
82  /** \brief Destructor. */
84 
85  /**
86  * \brief Set the pointer to the input cloud.
87  *
88  * \param[in] cloud A pointer to the input cloud.
89  */
90  void
92 
93  /**
94  * \brief Set the ground coefficients.
95  *
96  * \param[in] ground_coeffs Vector containing the four plane coefficients.
97  */
98  void
99  setGround (Eigen::VectorXf& ground_coeffs);
100 
101  /**
102  * \brief Set the transformation matrix, which is used in order to transform the given point cloud, the ground plane and the intrinsics matrix to the internal coordinate frame.
103  * \param[in] transformation
104  */
105  void
106  setTransformation (const Eigen::Matrix3f& transformation);
107 
108  /**
109  * \brief Set sampling factor.
110  *
111  * \param[in] sampling_factor Value of the downsampling factor (in each dimension) which is applied to the raw point cloud (default = 1.).
112  */
113  void
114  setSamplingFactor (int sampling_factor);
115 
116  /**
117  * \brief Set voxel size.
118  *
119  * \param[in] voxel_size Value of the voxel dimension (default = 0.06m.).
120  */
121  void
122  setVoxelSize (float voxel_size);
123 
124  /**
125  * \brief Set intrinsic parameters of the RGB camera.
126  *
127  * \param[in] intrinsics_matrix RGB camera intrinsic parameters matrix.
128  */
129  void
130  setIntrinsics (Eigen::Matrix3f intrinsics_matrix);
131 
132  /**
133  * \brief Set SVM-based person classifier.
134  *
135  * \param[in] person_classifier Needed for people detection on RGB data.
136  */
137  void
139 
140  /**
141  * \brief Set the field of view of the point cloud in z direction.
142  *
143  * \param[in] min The beginning of the field of view in z-direction, should be usually set to zero.
144  * \param[in] max The end of the field of view in z-direction.
145  */
146  void
147  setFOV (float min, float max);
148 
149  /**
150  * \brief Set sensor orientation (vertical = true means portrait mode, vertical = false means landscape mode).
151  *
152  * \param[in] vertical Set landscape/portrait camera orientation (default = false).
153  */
154  void
155  setSensorPortraitOrientation (bool vertical);
156 
157  /**
158  * \brief Set head_centroid_ to true (person centroid is in the head) or false (person centroid is the whole body centroid).
159  *
160  * \param[in] head_centroid Set the location of the person centroid (head or body center) (default = true).
161  */
162  void
163  setHeadCentroid (bool head_centroid);
164 
165  /**
166  * \brief Set minimum and maximum allowed height and width for a person cluster.
167  *
168  * \param[in] min_height Minimum allowed height for a person cluster (default = 1.3).
169  * \param[in] max_height Maximum allowed height for a person cluster (default = 2.3).
170  * \param[in] min_width Minimum width for a person cluster (default = 0.1).
171  * \param[in] max_width Maximum width for a person cluster (default = 8.0).
172  */
173  void
174  setPersonClusterLimits (float min_height, float max_height, float min_width, float max_width);
175 
176  /**
177  * \brief Set minimum distance between persons' heads.
178  *
179  * \param[in] heads_minimum_distance Minimum allowed distance between persons' heads (default = 0.3).
180  */
181  void
182  setMinimumDistanceBetweenHeads (float heads_minimum_distance);
183 
184  /**
185  * \brief Get the minimum and maximum allowed height and width for a person cluster.
186  *
187  * \param[out] min_height Minimum allowed height for a person cluster.
188  * \param[out] max_height Maximum allowed height for a person cluster.
189  * \param[out] min_width Minimum width for a person cluster.
190  * \param[out] max_width Maximum width for a person cluster.
191  */
192  void
193  getPersonClusterLimits (float& min_height, float& max_height, float& min_width, float& max_width);
194 
195  /**
196  * \brief Get minimum and maximum allowed number of points for a person cluster.
197  *
198  * \param[out] min_points Minimum allowed number of points for a person cluster.
199  * \param[out] max_points Maximum allowed number of points for a person cluster.
200  */
201  void
202  getDimensionLimits (int& min_points, int& max_points);
203 
204  /**
205  * \brief Get minimum distance between persons' heads.
206  */
207  float
209 
210  /**
211  * \brief Get floor coefficients.
212  */
213  Eigen::VectorXf
214  getGround ();
215 
216  /**
217  * \brief Get the filtered point cloud.
218  */
220  getFilteredCloud ();
221 
222  /**
223  * \brief Get pointcloud after voxel grid filtering and ground removal.
224  */
226  getNoGroundCloud ();
227 
228  /**
229  * \brief Extract RGB information from a point cloud and output the corresponding RGB point cloud.
230  *
231  * \param[in] input_cloud A pointer to a point cloud containing also RGB information.
232  * \param[out] output_cloud A pointer to a RGB point cloud.
233  */
234  void
236 
237  /**
238  * \brief Swap rows/cols dimensions of a RGB point cloud (90 degrees counterclockwise rotation).
239  *
240  * \param[in,out] cloud A pointer to a RGB point cloud.
241  */
242  void
244 
245  /**
246  * \brief Estimates min_points_ and max_points_ based on the minimal and maximal cluster size and the voxel size.
247  */
248  void
250 
251  /**
252  * \brief Applies the transformation to the input point cloud.
253  */
254  void
256 
257  /**
258  * \brief Applies the transformation to the ground plane.
259  */
260  void
262 
263  /**
264  * \brief Applies the transformation to the intrinsics matrix.
265  */
266  void
268 
269  /**
270  * \brief Reduces the input cloud to one point per voxel and limits the field of view.
271  */
272  void
273  filter ();
274 
275  /**
276  * \brief Perform people detection on the input data and return people clusters information.
277  *
278  * \param[out] clusters Vector of PersonCluster.
279  *
280  * \return true if the compute operation is successful, false otherwise.
281  */
282  bool
283  compute (std::vector<pcl::people::PersonCluster<PointT> >& clusters);
284 
285  protected:
286  /** \brief sampling factor used to downsample the point cloud */
288 
289  /** \brief voxel size */
290  float voxel_size_;
291 
292  /** \brief ground plane coefficients */
293  Eigen::VectorXf ground_coeffs_;
294 
295  /** \brief flag stating whether the ground coefficients have been set or not */
297 
298  /** \brief the transformed ground coefficients */
299  Eigen::VectorXf ground_coeffs_transformed_;
300 
301  /** \brief ground plane normalization factor */
303 
304  /** \brief rotation matrix which transforms input point cloud to internal people tracker coordinate frame */
305  Eigen::Matrix3f transformation_;
306 
307  /** \brief flag stating whether the transformation matrix has been set or not */
309 
310  /** \brief pointer to the input cloud */
312 
313  /** \brief pointer to the filtered cloud */
315 
316  /** \brief pointer to the cloud after voxel grid filtering and ground removal */
318 
319  /** \brief pointer to a RGB cloud corresponding to cloud_ */
321 
322  /** \brief person clusters maximum height from the ground plane */
323  float max_height_;
324 
325  /** \brief person clusters minimum height from the ground plane */
326  float min_height_;
327 
328  /** \brief person clusters maximum width, used to estimate how many points maximally represent a person cluster */
329  float max_width_;
330 
331  /** \brief person clusters minimum width, used to estimate how many points minimally represent a person cluster */
332  float min_width_;
333 
334  /** \brief the beginning of the field of view in z-direction, should be usually set to zero */
335  float min_fov_;
336 
337  /** \brief the end of the field of view in z-direction */
338  float max_fov_;
339 
340  /** \brief if true, the sensor is considered to be vertically placed (portrait mode) */
341  bool vertical_;
342 
343  /** \brief if true, the person centroid is computed as the centroid of the cluster points belonging to the head;
344  * if false, the person centroid is computed as the centroid of the whole cluster points (default = true) */
345  bool head_centroid_; // if true, the person centroid is computed as the centroid of the cluster points belonging to the head (default = true)
346  // if false, the person centroid is computed as the centroid of the whole cluster points
347  /** \brief maximum number of points for a person cluster */
349 
350  /** \brief minimum number of points for a person cluster */
352 
353  /** \brief minimum distance between persons' heads */
355 
356  /** \brief intrinsic parameters matrix of the RGB camera */
357  Eigen::Matrix3f intrinsics_matrix_;
358 
359  /** \brief flag stating whether the intrinsics matrix has been set or not */
361 
362  /** \brief the transformed intrinsics matrix */
364 
365  /** \brief SVM-based person classifier */
367 
368  /** \brief flag stating if the classifier has been set or not */
370  };
371  } /* namespace people */
372 } /* namespace pcl */
373 #include <pcl/people/impl/ground_based_people_detection_app.hpp>
void setFOV(float min, float max)
Set the field of view of the point cloud in z direction.
GroundBasedPeopleDetectionApp performs people detection on RGB-D data having as input the ground plan...
void getDimensionLimits(int &min_points, int &max_points)
Get minimum and maximum allowed number of points for a person cluster.
void updateMinMaxPoints()
Estimates min_points_ and max_points_ based on the minimal and maximal cluster size and the voxel siz...
PointCloudPtr cloud_filtered_
pointer to the filtered cloud
Eigen::Matrix3f intrinsics_matrix_
intrinsic parameters matrix of the RGB camera
Eigen::VectorXf ground_coeffs_
ground plane coefficients
float heads_minimum_distance_
minimum distance between persons&#39; heads
This file defines compatibility wrappers for low level I/O functions.
Definition: convolution.h:45
bool compute(std::vector< pcl::people::PersonCluster< PointT > > &clusters)
Perform people detection on the input data and return people clusters information.
Eigen::Matrix3f transformation_
rotation matrix which transforms input point cloud to internal people tracker coordinate frame ...
bool person_classifier_set_flag_
flag stating if the classifier has been set or not
float max_height_
person clusters maximum height from the ground plane
float getMinimumDistanceBetweenHeads()
Get minimum distance between persons&#39; heads.
void setMinimumDistanceBetweenHeads(float heads_minimum_distance)
Set minimum distance between persons&#39; heads.
int sampling_factor_
sampling factor used to downsample the point cloud
float sqrt_ground_coeffs_
ground plane normalization factor
boost::shared_ptr< const PointCloud > PointCloudConstPtr
void setPersonClusterLimits(float min_height, float max_height, float min_width, float max_width)
Set minimum and maximum allowed height and width for a person cluster.
float max_fov_
the end of the field of view in z-direction
void setSamplingFactor(int sampling_factor)
Set sampling factor.
int max_points_
maximum number of points for a person cluster
PointCloudPtr getFilteredCloud()
Get the filtered point cloud.
int min_points_
minimum number of points for a person cluster
bool head_centroid_
if true, the person centroid is computed as the centroid of the cluster points belonging to the head;...
pcl::people::PersonClassifier< pcl::RGB > person_classifier_
SVM-based person classifier.
bool transformation_set_
flag stating whether the transformation matrix has been set or not
float max_width_
person clusters maximum width, used to estimate how many points maximally represent a person cluster ...
float min_height_
person clusters minimum height from the ground plane
float min_fov_
the beginning of the field of view in z-direction, should be usually set to zero
PersonCluster represents a class for representing information about a cluster containing a person...
void applyTransformationGround()
Applies the transformation to the ground plane.
void applyTransformationIntrinsics()
Applies the transformation to the intrinsics matrix.
Defines all the PCL implemented PointT point type structures.
void extractRGBFromPointCloud(PointCloudPtr input_cloud, pcl::PointCloud< pcl::RGB >::Ptr &output_cloud)
Extract RGB information from a point cloud and output the corresponding RGB point cloud...
Eigen::VectorXf getGround()
Get floor coefficients.
void swapDimensions(pcl::PointCloud< pcl::RGB >::Ptr &cloud)
Swap rows/cols dimensions of a RGB point cloud (90 degrees counterclockwise rotation).
void setTransformation(const Eigen::Matrix3f &transformation)
Set the transformation matrix, which is used in order to transform the given point cloud...
boost::shared_ptr< PointCloud< PointT > > Ptr
Definition: point_cloud.h:444
void getPersonClusterLimits(float &min_height, float &max_height, float &min_width, float &max_width)
Get the minimum and maximum allowed height and width for a person cluster.
void setInputCloud(PointCloudPtr &cloud)
Set the pointer to the input cloud.
void setClassifier(pcl::people::PersonClassifier< pcl::RGB > person_classifier)
Set SVM-based person classifier.
void setGround(Eigen::VectorXf &ground_coeffs)
Set the ground coefficients.
PointCloud represents the base class in PCL for storing collections of 3D points. ...
void setHeadCentroid(bool head_centroid)
Set head_centroid_ to true (person centroid is in the head) or false (person centroid is the whole bo...
bool ground_coeffs_set_
flag stating whether the ground coefficients have been set or not
bool vertical_
if true, the sensor is considered to be vertically placed (portrait mode)
Eigen::Matrix3f intrinsics_matrix_transformed_
the transformed intrinsics matrix
float min_width_
person clusters minimum width, used to estimate how many points minimally represent a person cluster ...
PointCloudPtr getNoGroundCloud()
Get pointcloud after voxel grid filtering and ground removal.
void applyTransformationPointCloud()
Applies the transformation to the input point cloud.
bool intrinsics_matrix_set_
flag stating whether the intrinsics matrix has been set or not
Eigen::VectorXf ground_coeffs_transformed_
the transformed ground coefficients
void filter()
Reduces the input cloud to one point per voxel and limits the field of view.
PointCloudPtr no_ground_cloud_
pointer to the cloud after voxel grid filtering and ground removal
void setIntrinsics(Eigen::Matrix3f intrinsics_matrix)
Set intrinsic parameters of the RGB camera.
pcl::PointCloud< pcl::RGB >::Ptr rgb_image_
pointer to a RGB cloud corresponding to cloud_
void setSensorPortraitOrientation(bool vertical)
Set sensor orientation (vertical = true means portrait mode, vertical = false means landscape mode)...