Point Cloud Library (PCL)  1.12.1-dev
bodyparts_detector.h
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36 
37 #pragma once
38 
39 #include <pcl/memory.h>
40 #include <pcl/pcl_exports.h>
41 #include <pcl/point_types.h>
42 #include <pcl/point_cloud.h>
43 #include <pcl/gpu/containers/device_array.h>
44 #include <pcl/gpu/people/colormap.h>
45 #include <pcl/gpu/people/label_blob2.h>
46 #include <pcl/gpu/people/label_common.h>
47 #include "pcl/gpu/people/person_attribs.h"
48 
49 #include <string>
50 #include <vector>
51 
52 namespace pcl
53 {
54  namespace device
55  {
56  // This just seems hacky ...
57  class MultiTreeLiveProc;
58  }
59 
60  namespace gpu
61  {
62  namespace people
63  {
65  {
66  public:
67  using Ptr = shared_ptr<RDFBodyPartsDetector>;
68  using ConstPtr = shared_ptr<const RDFBodyPartsDetector>;
69  using BlobMatrix = std::vector<std::vector<Blob2, Eigen::aligned_allocator<Blob2> > >;
70 
74 
75  /** \brief This is the constructor **/
76  RDFBodyPartsDetector(const std::vector<std::string>& tree_files,
77  int default_buffer_rows = 480, int default_buffer_cols = 640);
78 
79  /**
80  * \brief This function does the complete RDF evaluation in a discrete manner and builds the blob matrix
81  */
82  void process(const Depth& depth, const PointCloud<PointXYZ>& cloud, int min_pts_per_cluster);
83  // This are the different sub-parts of process()
84  /**
85  * \brief This function processes based on the RDF with probabilistic voting scheme
86  */
87  void processProb (const Depth& depth);
88 
89  /**
90  * \brief This smooths the labels and does the connected components
91  */
92  void processSmooth (const Depth& depth, const PointCloud<PointXYZ>& cloud, int min_pts_per_cluster);
93 
94  /**
95  * \brief This processes the blob_matrix_
96  * \return negative if failed
97  */
98  int
100 
101  /**
102  * \brief This processes the blob_matrix_
103  * \param[in] person_attribs the custom person parameters
104  * \return negative if failed
105  */
106  int
108 
109  //getters
110  const Labels& getLabels() const;
116  std::size_t getNumberTrees() const;
117  const BlobMatrix& getBlobMatrix() const;
118 
119 
120  /** \brief This contains the final body part labels **/
122  /** \brief This contains the smoothed final body part labels **/
124 
125  /** These contain the histograms of the labels for this detector **/
126  pcl::device::LabelProbability P_l_; // the one is current worked in
127  pcl::device::LabelProbability P_l_Gaus_; // the current Gaussian buffer
128  pcl::device::LabelProbability P_l_Gaus_Temp_; // the current Gaussian buffer to store the intermediate
129  pcl::device::LabelProbability P_l_1_; // storage for the first iteration
130  pcl::device::LabelProbability P_l_2_; // storage for the second iteration
131 
132  /** These contain the histograms of the labels for this detector of the previous timestep **/
133  pcl::device::LabelProbability P_l_prev_1_; // for the first iteration
134  pcl::device::LabelProbability P_l_prev_2_; // for the second iteration
135 
136  private:
137  std::shared_ptr<device::MultiTreeLiveProc> impl_;
138 
139  int max_cluster_size_;
140  float cluster_tolerance_;
141 
142  BlobMatrix blob_matrix_;
143 
144  // hide this buffer using pImpl
145  std::vector<unsigned char> lmap_host_;
146  std::vector<int> dst_labels_;
147  std::vector<int> region_sizes_;
148  std::vector<int> remap_;
149  std::vector<float> means_storage_;
150  DeviceArray2D<int> comps_;
152 
153  void allocate_buffers(int rows = 480, int cols = 640);
154  };
155  }
156  }
157 }
PointCloud represents the base class in PCL for storing collections of 3D points.
Definition: point_cloud.h:173
shared_ptr< PersonAttribs > Ptr
Labels labels_smoothed_
This contains the smoothed final body part labels.
pcl::device::LabelProbability P_l_
These contain the histograms of the labels for this detector.
const BlobMatrix & getBlobMatrix() const
pcl::device::LabelProbability P_l_1_
pcl::device::LabelProbability P_l_prev_2_
pcl::device::LabelProbability P_l_prev_1_
These contain the histograms of the labels for this detector of the previous timestep.
const pcl::device::LabelProbability & getProbability1() const
void processSmooth(const Depth &depth, const PointCloud< PointXYZ > &cloud, int min_pts_per_cluster)
This smooths the labels and does the connected components.
pcl::device::LabelProbability P_l_Gaus_
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.
const pcl::device::LabelProbability & getPrevProbability1() const
const pcl::device::LabelProbability & getProbability2() const
int processRelations(PersonAttribs::Ptr person_attribs)
This processes the blob_matrix_.
pcl::device::LabelProbability P_l_Gaus_Temp_
int processRelations()
This processes the blob_matrix_.
RDFBodyPartsDetector(const std::vector< std::string > &tree_files, int default_buffer_rows=480, int default_buffer_cols=640)
This is the constructor.
std::vector< std::vector< Blob2, Eigen::aligned_allocator< Blob2 > > > BlobMatrix
const pcl::device::LabelProbability & getPrevProbability2() const
const pcl::device::LabelProbability & getProbability() const
void processProb(const Depth &depth)
This function processes based on the RDF with probabilistic voting scheme.
shared_ptr< const RDFBodyPartsDetector > ConstPtr
pcl::device::LabelProbability P_l_2_
shared_ptr< RDFBodyPartsDetector > Ptr
Labels labels_
This contains the final body part labels.
Defines all the PCL implemented PointT point type structures.
Defines functions, macros and traits for allocating and using memory.
#define PCL_EXPORTS
Definition: pcl_macros.h:323