Point Cloud Library (PCL)  1.9.1-dev
height_map_2d.h
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36  * height_map_2d.h
37  * Created on: Nov 30, 2012
38  * Author: Matteo Munaro
39  */
40 
41 #pragma once
42 
43 #include <pcl/people/person_cluster.h>
44 #include <pcl/point_types.h>
45 
46 namespace pcl
47 {
48  namespace people
49  {
50  /** \brief @b HeightMap2D represents a class for creating a 2D height map from a point cloud and searching for its local maxima
51  * \author Matteo Munaro
52  * \ingroup people
53  */
54  template <typename PointT> class HeightMap2D;
55 
56  template <typename PointT>
57  class HeightMap2D
58  {
59  public:
60 
62  using PointCloudPtr = boost::shared_ptr<PointCloud>;
63  using PointCloudConstPtr = boost::shared_ptr<const PointCloud>;
64 
65  /** \brief Constructor. */
66  HeightMap2D();
67 
68  /** \brief Destructor. */
69  virtual ~HeightMap2D ();
70 
71  /**
72  * \brief Compute the height map with the projection of cluster points onto the ground plane.
73  *
74  * \param[in] cluster The PersonCluster used to compute the height map.
75  */
76  void
78 
79  /**
80  * \brief Compute local maxima of the height map.
81  */
82  void
84 
85  /**
86  * \brief Filter maxima of the height map by imposing a minimum distance between them.
87  */
88  void
89  filterMaxima ();
90 
91  /**
92  * \brief Set initial cluster indices.
93  *
94  * \param[in] cloud A pointer to the input cloud.
95  */
96  void
98 
99  /**
100  * \brief Set the ground coefficients.
101  *
102  * \param[in] ground_coeffs The ground plane coefficients.
103  */
104  void
105  setGround (Eigen::VectorXf& ground_coeffs);
106 
107  /**
108  * \brief Set bin size for the height map.
109  *
110  * \param[in] bin_size Bin size for the height map (default = 0.06).
111  */
112  void
113  setBinSize (float bin_size);
114 
115  /**
116  * \brief Set minimum distance between maxima.
117  *
118  * \param[in] minimum_distance_between_maxima Minimum allowed distance between maxima (default = 0.3).
119  */
120  void
121  setMinimumDistanceBetweenMaxima (float minimum_distance_between_maxima);
122 
123  /**
124  * \brief Set sensor orientation to landscape mode (false) or portrait mode (true).
125  *
126  * \param[in] vertical Landscape (false) or portrait (true) mode (default = false).
127  */
128  void
129  setSensorPortraitOrientation (bool vertical);
130 
131  /**
132  * \brief Get the height map as a vector of int.
133  */
134  std::vector<int>&
135  getHeightMap ();
136 
137  /**
138  * \brief Get bin size for the height map.
139  */
140  float
141  getBinSize ();
142 
143  /**
144  * \brief Get minimum distance between maxima of the height map.
145  */
146  float
148 
149  /**
150  * \brief Return the maxima number after the filterMaxima method.
151  */
152  int&
154 
155  /**
156  * \brief Return the point cloud indices corresponding to the maxima computed after the filterMaxima method.
157  */
158  std::vector<int>&
160 
161  protected:
162  /** \brief ground plane coefficients */
163  Eigen::VectorXf ground_coeffs_;
164 
165  /** \brief ground plane normalization factor */
167 
168  /** \brief pointer to the input cloud */
170 
171  /** \brief if true, the sensor is considered to be vertically placed (portrait mode) */
172  bool vertical_;
173 
174  /** \brief vector with maximum height values for every bin (height map) */
175  std::vector<int> buckets_;
176 
177  /** \brief indices of the pointcloud points with maximum height for every bin */
178  std::vector<int> buckets_cloud_indices_;
179 
180  /** \brief bin dimension */
181  float bin_size_;
182 
183  /** \brief number of local maxima in the height map */
185 
186  /** \brief contains the position of the maxima in the buckets vector */
187  std::vector<int> maxima_indices_;
188 
189  /** \brief contains the point cloud position of the maxima (indices of the point cloud) */
190  std::vector<int> maxima_cloud_indices_;
191 
192  /** \brief number of local maxima after filtering */
194 
195  /** \brief contains the position of the maxima in the buckets array after filtering */
196  std::vector<int> maxima_indices_filtered_;
197 
198  /** \brief contains the point cloud position of the maxima after filtering */
200 
201  /** \brief minimum allowed distance between maxima */
203  };
204 
205  } /* namespace people */
206 } /* namespace pcl */
207 #include <pcl/people/impl/height_map_2d.hpp>
int & getMaximaNumberAfterFiltering()
Return the maxima number after the filterMaxima method.
Eigen::VectorXf ground_coeffs_
ground plane coefficients
int maxima_number_
number of local maxima in the height map
HeightMap2D()
Constructor.
This file defines compatibility wrappers for low level I/O functions.
Definition: convolution.h:45
void compute(pcl::people::PersonCluster< PointT > &cluster)
Compute the height map with the projection of cluster points onto the ground plane.
virtual ~HeightMap2D()
Destructor.
void setBinSize(float bin_size)
Set bin size for the height map.
boost::shared_ptr< const PointCloud > PointCloudConstPtr
Definition: height_map_2d.h:63
float getBinSize()
Get bin size for the height map.
float min_dist_between_maxima_
minimum allowed distance between maxima
float bin_size_
bin dimension
std::vector< int > buckets_
vector with maximum height values for every bin (height map)
std::vector< int > maxima_cloud_indices_filtered_
contains the point cloud position of the maxima after filtering
boost::shared_ptr< PointCloud > PointCloudPtr
Definition: height_map_2d.h:62
PersonCluster represents a class for representing information about a cluster containing a person...
std::vector< int > maxima_cloud_indices_
contains the point cloud position of the maxima (indices of the point cloud)
float sqrt_ground_coeffs_
ground plane normalization factor
void searchLocalMaxima()
Compute local maxima of the height map.
Defines all the PCL implemented PointT point type structures.
std::vector< int > maxima_indices_filtered_
contains the position of the maxima in the buckets array after filtering
void setGround(Eigen::VectorXf &ground_coeffs)
Set the ground coefficients.
std::vector< int > & getHeightMap()
Get the height map as a vector of int.
PointCloudPtr cloud_
pointer to the input cloud
std::vector< int > & getMaximaCloudIndicesFiltered()
Return the point cloud indices corresponding to the maxima computed after the filterMaxima method...
std::vector< int > maxima_indices_
contains the position of the maxima in the buckets vector
float getMinimumDistanceBetweenMaxima()
Get minimum distance between maxima of the height map.
void setInputCloud(PointCloudPtr &cloud)
Set initial cluster indices.
PointCloud represents the base class in PCL for storing collections of 3D points. ...
bool vertical_
if true, the sensor is considered to be vertically placed (portrait mode)
std::vector< int > buckets_cloud_indices_
indices of the pointcloud points with maximum height for every bin
void setMinimumDistanceBetweenMaxima(float minimum_distance_between_maxima)
Set minimum distance between maxima.
int maxima_number_after_filtering_
number of local maxima after filtering
void setSensorPortraitOrientation(bool vertical)
Set sensor orientation to landscape mode (false) or portrait mode (true).
HeightMap2D represents a class for creating a 2D height map from a point cloud and searching for its ...
Definition: height_map_2d.h:54
void filterMaxima()
Filter maxima of the height map by imposing a minimum distance between them.