HeightMap2D represents a class for creating a 2D height map from a point cloud and searching for its local maxima More...

#include <pcl/people/height_map_2d.h>

Collaboration diagram for pcl::people::HeightMap2D< PointT >:

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

using	PointCloudPtr = typename PointCloud::Ptr

using	PointCloudConstPtr = typename PointCloud::ConstPtr

Public Member Functions
	HeightMap2D ()
	Constructor. More...

virtual	~HeightMap2D ()
	Destructor. More...

void	compute (pcl::people::PersonCluster< PointT > &cluster)
	Compute the height map with the projection of cluster points onto the ground plane. More...

void	searchLocalMaxima ()
	Compute local maxima of the height map. More...

void	filterMaxima ()
	Filter maxima of the height map by imposing a minimum distance between them. More...

void	setInputCloud (PointCloudPtr &cloud)
	Set initial cluster indices. More...

void	setGround (Eigen::VectorXf &ground_coeffs)
	Set the ground coefficients. More...

void	setBinSize (float bin_size)
	Set bin size for the height map. More...

void	setMinimumDistanceBetweenMaxima (float minimum_distance_between_maxima)
	Set minimum distance between maxima. More...

void	setSensorPortraitOrientation (bool vertical)
	Set sensor orientation to landscape mode (false) or portrait mode (true). More...

std::vector< int > &	getHeightMap ()
	Get the height map as a vector of int. More...

float	getBinSize ()
	Get bin size for the height map. More...

float	getMinimumDistanceBetweenMaxima ()
	Get minimum distance between maxima of the height map. More...

int &	getMaximaNumberAfterFiltering ()
	Return the maxima number after the filterMaxima method. More...

std::vector< int > &	getMaximaCloudIndicesFiltered ()
	Return the point cloud indices corresponding to the maxima computed after the filterMaxima method. More...

Protected Attributes
Eigen::VectorXf	ground_coeffs_
	ground plane coefficients More...

float	sqrt_ground_coeffs_
	ground plane normalization factor More...

PointCloudPtr	cloud_
	pointer to the input cloud More...

bool	vertical_
	if true, the sensor is considered to be vertically placed (portrait mode) More...

std::vector< int >	buckets_
	vector with maximum height values for every bin (height map) More...

std::vector< int >	buckets_cloud_indices_
	indices of the pointcloud points with maximum height for every bin More...

float	bin_size_
	bin dimension More...

int	maxima_number_
	number of local maxima in the height map More...

std::vector< int >	maxima_indices_
	contains the position of the maxima in the buckets vector More...

std::vector< int >	maxima_cloud_indices_
	contains the point cloud position of the maxima (indices of the point cloud) More...

int	maxima_number_after_filtering_
	number of local maxima after filtering More...

std::vector< int >	maxima_indices_filtered_
	contains the position of the maxima in the buckets array after filtering More...

std::vector< int >	maxima_cloud_indices_filtered_
	contains the point cloud position of the maxima after filtering More...

float	min_dist_between_maxima_
	minimum allowed distance between maxima More...

Detailed Description

template<typename PointT>
class pcl::people::HeightMap2D< PointT >

HeightMap2D represents a class for creating a 2D height map from a point cloud and searching for its local maxima

Author: Matteo Munaro

Definition at line 57 of file height_map_2d.h.

Member Typedef Documentation

◆ PointCloud

template<typename PointT >

using pcl::people::HeightMap2D< PointT >::PointCloud = pcl::PointCloud<PointT>

Definition at line 61 of file height_map_2d.h.

◆ PointCloudConstPtr

template<typename PointT >

using pcl::people::HeightMap2D< PointT >::PointCloudConstPtr = typename PointCloud::ConstPtr

Definition at line 63 of file height_map_2d.h.

◆ PointCloudPtr

template<typename PointT >

using pcl::people::HeightMap2D< PointT >::PointCloudPtr = typename PointCloud::Ptr

Definition at line 62 of file height_map_2d.h.

Constructor & Destructor Documentation

◆ HeightMap2D()

template<typename PointT >

pcl::people::HeightMap2D< PointT >::HeightMap2D

Constructor.

Definition at line 47 of file height_map_2d.hpp.

◆ ~HeightMap2D()

template<typename PointT >

pcl::people::HeightMap2D< PointT >::~HeightMap2D ( )

virtualdefault

Destructor.

Member Function Documentation

◆ compute()

template<typename PointT >

void pcl::people::HeightMap2D< PointT >::compute ( pcl::people::PersonCluster< PointT > & cluster )

Compute the height map with the projection of cluster points onto the ground plane.

Parameters

[in] cluster The PersonCluster used to compute the height map.

Definition at line 59 of file height_map_2d.hpp.

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

Referenced by pcl::people::HeadBasedSubclustering< PointT >::subcluster().

◆ filterMaxima()

template<typename PointT >

void pcl::people::HeightMap2D< PointT >::filterMaxima

Filter maxima of the height map by imposing a minimum distance between them.

Definition at line 202 of file height_map_2d.hpp.

References pcl::geometry::distance().

◆ getBinSize()

template<typename PointT >

float pcl::people::HeightMap2D< PointT >::getBinSize

Get bin size for the height map.

Definition at line 283 of file height_map_2d.hpp.

◆ getHeightMap()

template<typename PointT >

std::vector< int > & pcl::people::HeightMap2D< PointT >::getHeightMap

Get the height map as a vector of int.

Definition at line 277 of file height_map_2d.hpp.

◆ getMaximaCloudIndicesFiltered()

template<typename PointT >

std::vector< int > & pcl::people::HeightMap2D< PointT >::getMaximaCloudIndicesFiltered

Return the point cloud indices corresponding to the maxima computed after the filterMaxima method.

Definition at line 301 of file height_map_2d.hpp.

Referenced by pcl::people::HeadBasedSubclustering< PointT >::subcluster().

◆ getMaximaNumberAfterFiltering()

template<typename PointT >

int & pcl::people::HeightMap2D< PointT >::getMaximaNumberAfterFiltering

Return the maxima number after the filterMaxima method.

Definition at line 295 of file height_map_2d.hpp.

Referenced by pcl::people::HeadBasedSubclustering< PointT >::subcluster().

◆ getMinimumDistanceBetweenMaxima()

template<typename PointT >

float pcl::people::HeightMap2D< PointT >::getMinimumDistanceBetweenMaxima

Get minimum distance between maxima of the height map.

Definition at line 289 of file height_map_2d.hpp.

◆ searchLocalMaxima()

template<typename PointT >

void pcl::people::HeightMap2D< PointT >::searchLocalMaxima

Compute local maxima of the height map.

Definition at line 119 of file height_map_2d.hpp.

◆ setBinSize()

template<typename PointT >

void pcl::people::HeightMap2D< PointT >::setBinSize ( float bin_size )

Set bin size for the height map.

Parameters

[in] bin_size Bin size for the height map (default = 0.06).

Definition at line 259 of file height_map_2d.hpp.

◆ setGround()

template<typename PointT >

void pcl::people::HeightMap2D< PointT >::setGround ( Eigen::VectorXf & ground_coeffs )

Set the ground coefficients.

Parameters

[in] ground_coeffs The ground plane coefficients.

Definition at line 252 of file height_map_2d.hpp.

Referenced by pcl::people::HeadBasedSubclustering< PointT >::subcluster().

◆ setInputCloud()

template<typename PointT >

void pcl::people::HeightMap2D< PointT >::setInputCloud ( PointCloudPtr & cloud )

Set initial cluster indices.

Parameters

[in] cloud A pointer to the input cloud.

Definition at line 246 of file height_map_2d.hpp.

Referenced by pcl::people::HeadBasedSubclustering< PointT >::subcluster().

◆ setMinimumDistanceBetweenMaxima()

template<typename PointT >

void pcl::people::HeightMap2D< PointT >::setMinimumDistanceBetweenMaxima ( float minimum_distance_between_maxima )

Set minimum distance between maxima.

Parameters

[in] minimum_distance_between_maxima Minimum allowed distance between maxima (default = 0.3).

Definition at line 265 of file height_map_2d.hpp.

Referenced by pcl::people::HeadBasedSubclustering< PointT >::subcluster().

◆ setSensorPortraitOrientation()

template<typename PointT >

void pcl::people::HeightMap2D< 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 271 of file height_map_2d.hpp.

Referenced by pcl::people::HeadBasedSubclustering< PointT >::subcluster().

Member Data Documentation

◆ bin_size_

template<typename PointT >

float pcl::people::HeightMap2D< PointT >::bin_size_

protected

bin dimension

Definition at line 181 of file height_map_2d.h.

◆ buckets_

template<typename PointT >

std::vector<int> pcl::people::HeightMap2D< PointT >::buckets_

protected

vector with maximum height values for every bin (height map)

Definition at line 175 of file height_map_2d.h.

◆ buckets_cloud_indices_

template<typename PointT >

std::vector<int> pcl::people::HeightMap2D< PointT >::buckets_cloud_indices_

protected

indices of the pointcloud points with maximum height for every bin

Definition at line 178 of file height_map_2d.h.

◆ cloud_

template<typename PointT >

PointCloudPtr pcl::people::HeightMap2D< PointT >::cloud_

protected

pointer to the input cloud

Definition at line 169 of file height_map_2d.h.

◆ ground_coeffs_

template<typename PointT >

Eigen::VectorXf pcl::people::HeightMap2D< PointT >::ground_coeffs_

protected

ground plane coefficients

Definition at line 163 of file height_map_2d.h.

◆ maxima_cloud_indices_

template<typename PointT >

std::vector<int> pcl::people::HeightMap2D< PointT >::maxima_cloud_indices_

protected

contains the point cloud position of the maxima (indices of the point cloud)

Definition at line 190 of file height_map_2d.h.

◆ maxima_cloud_indices_filtered_

template<typename PointT >

std::vector<int> pcl::people::HeightMap2D< PointT >::maxima_cloud_indices_filtered_

protected

contains the point cloud position of the maxima after filtering

Definition at line 199 of file height_map_2d.h.

◆ maxima_indices_

template<typename PointT >

std::vector<int> pcl::people::HeightMap2D< PointT >::maxima_indices_

protected

contains the position of the maxima in the buckets vector

Definition at line 187 of file height_map_2d.h.

◆ maxima_indices_filtered_

template<typename PointT >

std::vector<int> pcl::people::HeightMap2D< PointT >::maxima_indices_filtered_

protected

contains the position of the maxima in the buckets array after filtering

Definition at line 196 of file height_map_2d.h.

◆ maxima_number_

template<typename PointT >

int pcl::people::HeightMap2D< PointT >::maxima_number_

protected

number of local maxima in the height map

Definition at line 184 of file height_map_2d.h.

◆ maxima_number_after_filtering_

template<typename PointT >

int pcl::people::HeightMap2D< PointT >::maxima_number_after_filtering_

protected

number of local maxima after filtering

Definition at line 193 of file height_map_2d.h.

◆ min_dist_between_maxima_

template<typename PointT >

float pcl::people::HeightMap2D< PointT >::min_dist_between_maxima_

protected

minimum allowed distance between maxima

Definition at line 202 of file height_map_2d.h.

◆ sqrt_ground_coeffs_

template<typename PointT >

float pcl::people::HeightMap2D< PointT >::sqrt_ground_coeffs_

protected

ground plane normalization factor

Definition at line 166 of file height_map_2d.h.

◆ vertical_

template<typename PointT >

bool pcl::people::HeightMap2D< PointT >::vertical_

protected

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

Definition at line 172 of file height_map_2d.h.

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

pcl/people/height_map_2d.h
pcl/people/impl/height_map_2d.hpp

Public Types

Public Member Functions

Protected Attributes

Detailed Description

template<typename PointT> class pcl::people::HeightMap2D< PointT >

Member Typedef Documentation

◆ PointCloud

◆ PointCloudConstPtr

◆ PointCloudPtr

Constructor & Destructor Documentation

◆ HeightMap2D()

◆ ~HeightMap2D()

Member Function Documentation

◆ compute()

◆ filterMaxima()

◆ getBinSize()

◆ getHeightMap()

◆ getMaximaCloudIndicesFiltered()

◆ getMaximaNumberAfterFiltering()

◆ getMinimumDistanceBetweenMaxima()

◆ searchLocalMaxima()

◆ setBinSize()

◆ setGround()

◆ setInputCloud()

◆ setMinimumDistanceBetweenMaxima()

◆ setSensorPortraitOrientation()

Member Data Documentation

◆ bin_size_

◆ buckets_

◆ buckets_cloud_indices_

◆ cloud_

◆ ground_coeffs_

◆ maxima_cloud_indices_

◆ maxima_cloud_indices_filtered_

◆ maxima_indices_

◆ maxima_indices_filtered_

◆ maxima_number_

◆ maxima_number_after_filtering_

◆ min_dist_between_maxima_

◆ sqrt_ground_coeffs_

◆ vertical_

template<typename PointT>
class pcl::people::HeightMap2D< PointT >