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>

Collaboration diagram for pcl::people::HeadBasedSubclustering< PointT >:

Public Types
using	PointCloud = pcl::PointCloud< PointT >

using	PointCloudPtr = typename PointCloud::Ptr

using	PointCloudConstPtr = typename PointCloud::ConstPtr

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::PointIndices >	cluster_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 58 of file head_based_subcluster.h.

Member Typedef Documentation

◆ PointCloud

template<typename PointT >

using pcl::people::HeadBasedSubclustering< PointT >::PointCloud = pcl::PointCloud<PointT>

Definition at line 62 of file head_based_subcluster.h.

◆ PointCloudConstPtr

template<typename PointT >

using pcl::people::HeadBasedSubclustering< PointT >::PointCloudConstPtr = typename PointCloud::ConstPtr

Definition at line 64 of file head_based_subcluster.h.

◆ PointCloudPtr

template<typename PointT >

using pcl::people::HeadBasedSubclustering< PointT >::PointCloudPtr = typename PointCloud::Ptr

Definition at line 63 of file head_based_subcluster.h.

Constructor & Destructor Documentation

◆ HeadBasedSubclustering()

template<typename PointT >

pcl::people::HeadBasedSubclustering< PointT >::HeadBasedSubclustering

Constructor.

Definition at line 47 of file head_based_subcluster.hpp.

◆ ~HeadBasedSubclustering()

template<typename PointT >

pcl::people::HeadBasedSubclustering< PointT >::~HeadBasedSubclustering ( )

virtualdefault

Destructor.

Member Function Documentation

◆ createSubClusters()

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]	cluster	A PersonCluster.
[in]	maxima_number_after_filtering	Number of local maxima to use as centers of the new cluster.
[in]	maxima_cloud_indices_filtered	Cloud indices of local maxima to use as centers of the new cluster.
[out]	subclusters	Output vector of PersonCluster objects derived from the input cluster.

Definition at line 194 of file head_based_subcluster.hpp.

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

◆ getDimensionLimits()

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_points	Minimum allowed number of points for a person cluster.
[out]	max_points	Maximum allowed number of points for a person cluster.

Definition at line 121 of file head_based_subcluster.hpp.

◆ getHeightLimits()

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_height	Minimum allowed height for a person cluster.
[out]	max_height	Maximum allowed height for a person cluster.

Definition at line 114 of file head_based_subcluster.hpp.

◆ getMinimumDistanceBetweenHeads()

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.

◆ mergeClustersCloseInFloorCoordinates()

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_clusters	Input vector of PersonCluster.
[in]	output_clusters	Output vector of PersonCluster (after merging).

Definition at line 134 of file head_based_subcluster.hpp.

References pcl::PointIndices::indices.

◆ setDimensionLimits()

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_points	Minimum allowed number of points for a person cluster.
[in]	max_points	Maximum allowed number of points for a person cluster.

Definition at line 95 of file head_based_subcluster.hpp.

◆ setGround()

template<typename PointT >

void pcl::people::HeadBasedSubclustering< PointT >::setGround ( Eigen::VectorXf & ground_coeffs )

Set the ground coefficients.

Parameters

[in] ground_coeffs The ground plane coefficients.

Definition at line 69 of file head_based_subcluster.hpp.

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

◆ setHeadCentroid()

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_centroid Set the location of the person centroid (head or body center) (default = true).

Definition at line 108 of file head_based_subcluster.hpp.

◆ setHeightLimits()

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_height	Minimum allowed height for a person cluster (default = 1.3).
[in]	max_height	Maximum 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().

◆ setInitialClusters()

template<typename PointT >

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

Set initial cluster indices.

Parameters

[in] cluster_indices Point 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().

◆ setInputCloud()

template<typename PointT >

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

Set input cloud.

Parameters

[in] cloud A pointer to the input point cloud.

Definition at line 63 of file head_based_subcluster.hpp.

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

◆ setMinimumDistanceBetweenHeads()

template<typename PointT >

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

Set minimum distance between persons' heads.

Parameters

[in] heads_minimum_distance Minimum 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().

◆ setSensorPortraitOrientation()

template<typename PointT >

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

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

Parameters

[in] vertical Landscape (false) or portrait (true) mode (default = false).

Definition at line 82 of file head_based_subcluster.hpp.

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

◆ subcluster()

template<typename PointT >

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

Compute subclusters and return them into a vector of PersonCluster.

Parameters

[in] clusters Vector of PersonCluster.

Definition at line 253 of file head_based_subcluster.hpp.

References pcl::people::HeightMap2D< PointT >::compute(), pcl::people::HeightMap2D< PointT >::getMaximaCloudIndicesFiltered(), pcl::people::HeightMap2D< PointT >::getMaximaNumberAfterFiltering(), pcl::people::HeightMap2D< PointT >::setGround(), pcl::people::HeightMap2D< PointT >::setInputCloud(), pcl::people::HeightMap2D< PointT >::setMinimumDistanceBetweenMaxima(), and pcl::people::HeightMap2D< PointT >::setSensorPortraitOrientation().

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

Member Data Documentation

◆ cloud_

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.

◆ cluster_indices_

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.

◆ ground_coeffs_

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.

◆ head_centroid_

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.

◆ heads_minimum_distance_

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.

◆ max_height_

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.

◆ max_points_

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.

◆ min_height_

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.

◆ min_points_

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.

◆ sqrt_ground_coeffs_

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.

◆ vertical_

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:

pcl/people/head_based_subcluster.h
pcl/people/impl/head_based_subcluster.hpp

Public Types

Public Member Functions

Protected Attributes

Detailed Description

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

Member Typedef Documentation

◆ PointCloud

◆ PointCloudConstPtr

◆ PointCloudPtr

Constructor & Destructor Documentation

◆ HeadBasedSubclustering()

◆ ~HeadBasedSubclustering()

Member Function Documentation

◆ createSubClusters()

◆ getDimensionLimits()

◆ getHeightLimits()

◆ getMinimumDistanceBetweenHeads()

◆ mergeClustersCloseInFloorCoordinates()

◆ setDimensionLimits()

◆ setGround()

◆ setHeadCentroid()

◆ setHeightLimits()

◆ setInitialClusters()

◆ setInputCloud()

◆ setMinimumDistanceBetweenHeads()

◆ setSensorPortraitOrientation()

◆ subcluster()

Member Data Documentation

◆ cloud_

◆ cluster_indices_

◆ ground_coeffs_

◆ head_centroid_

◆ heads_minimum_distance_

◆ max_height_

◆ max_points_

◆ min_height_

◆ min_points_

◆ sqrt_ground_coeffs_

◆ vertical_

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