#include <pcl/people/person_classifier.h>

Inheritance diagram for pcl::people::PersonClassifier< PointT >:

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

using	PointCloudPtr = typename PointCloud::Ptr

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

virtual	~PersonClassifier ()
	Destructor. More...

bool	loadSVMFromFile (const std::string &svm_filename)
	Load SVM parameters from a text file. More...

void	setSVM (int window_height, int window_width, std::vector< float > SVM_weights, float SVM_offset)
	Set trained SVM for person confidence estimation. More...

void	getSVM (int &window_height, int &window_width, std::vector< float > &SVM_weights, float &SVM_offset)
	Get trained SVM for person confidence estimation. More...

void	resize (PointCloudPtr &input_image, PointCloudPtr &output_image, int width, int height)
	Resize an image represented by a pointcloud containing RGB information. More...

void	copyMakeBorder (PointCloudPtr &input_image, PointCloudPtr &output_image, int xmin, int ymin, int width, int height)
	Copies an image and makes a black border around it, where the source image is not present. More...

double	evaluate (float height, float xc, float yc, PointCloudPtr &image)
	Classify the given portion of image. More...

double	evaluate (PointCloudPtr &image, Eigen::Vector3f &bottom, Eigen::Vector3f &top, Eigen::Vector3f &centroid, bool vertical)
	Compute person confidence for a given PersonCluster. More...

Protected Attributes
int	window_height_
	Height of the image patch to classify. More...

int	window_width_
	Width of the image patch to classify. More...

float	SVM_offset_
	SVM offset. More...

std::vector< float >	SVM_weights_
	SVM weights vector. More...

Detailed Description

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

Definition at line 53 of file person_classifier.h.

Member Typedef Documentation

◆ PointCloud

template<typename PointT >

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

Definition at line 71 of file person_classifier.h.

◆ PointCloudPtr

template<typename PointT >

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

Definition at line 72 of file person_classifier.h.

Constructor & Destructor Documentation

◆ PersonClassifier()

template<typename PointT >

pcl::people::PersonClassifier< PointT >::PersonClassifier ( )

default

Constructor.

◆ ~PersonClassifier()

template<typename PointT >

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

virtualdefault

Destructor.

Member Function Documentation

◆ copyMakeBorder()

template<typename PointT >

void pcl::people::PersonClassifier< PointT >::copyMakeBorder	(	PointCloudPtr &	input_image,
		PointCloudPtr &	output_image,
		int	xmin,
		int	ymin,
		int	width,
		int	height
	)

Copies an image and makes a black border around it, where the source image is not present.

Parameters

[in]	input_image	A pointer to a pointcloud containing RGB information.
[out]	output_image	A pointer to the output pointcloud.
[in]	xmin	x coordinate of the top-left point of the bbox to copy from the input image.
[in]	ymin	y coordinate of the top-left point of the bbox to copy from the input image.
[in]	width	Output width.
[in]	height	Output height.

Definition at line 177 of file person_classifier.hpp.

◆ evaluate() [1/2]

template<typename PointT >

double pcl::people::PersonClassifier< PointT >::evaluate	(	float	height,
		float	xc,
		float	yc,
		PointCloudPtr &	image
	)

Classify the given portion of image.

Parameters

[in]	height	The height of the image patch to classify, in pixels.
[in]	xc	The x-coordinate of the center of the image patch to classify, in pixels.
[in]	yc	The y-coordinate of the center of the image patch to classify, in pixels.
[in]	image	The whole image (pointer to a point cloud containing RGB information) containing the object to classify.

Returns: The classification score given by the SVM.

Definition at line 212 of file person_classifier.hpp.

References pcl::people::HOG::compute().

◆ evaluate() [2/2]

template<typename PointT >

double pcl::people::PersonClassifier< PointT >::evaluate	(	PointCloudPtr &	image,
		Eigen::Vector3f &	bottom,
		Eigen::Vector3f &	top,
		Eigen::Vector3f &	centroid,
		bool	vertical
	)

Compute person confidence for a given PersonCluster.

Parameters

[in]	image	The input image (pointer to a point cloud containing RGB information).
[in]	bottom	Theoretical bottom point of the cluster projected to the image.
[in]	top	Theoretical top point of the cluster projected to the image.
[in]	centroid	Theoretical centroid point of the cluster projected to the image.
[in]	vertical	If true, the sensor is considered to be vertically placed (portrait mode).

Returns: The person confidence.

Definition at line 279 of file person_classifier.hpp.

◆ getSVM()

template<typename PointT >

void pcl::people::PersonClassifier< PointT >::getSVM	(	int &	window_height,
		int &	window_width,
		std::vector< float > &	SVM_weights,
		float &	SVM_offset
	)

Get trained SVM for person confidence estimation.

Parameters

[out]	window_height	Detection window height.
[out]	window_width	Detection window width.
[out]	SVM_weights	SVM weights vector.
[out]	SVM_offset	SVM offset.

Definition at line 100 of file person_classifier.hpp.

◆ loadSVMFromFile()

template<typename PointT >

bool pcl::people::PersonClassifier< PointT >::loadSVMFromFile ( const std::string & svm_filename )

Load SVM parameters from a text file.

Parameters

[in] svm_filename Filename containing SVM parameters.

Returns: true if SVM has been correctly set, false otherwise.

Definition at line 53 of file person_classifier.hpp.

◆ resize()

template<typename PointT >

void pcl::people::PersonClassifier< PointT >::resize	(	PointCloudPtr &	input_image,
		PointCloudPtr &	output_image,
		int	width,
		int	height
	)

Resize an image represented by a pointcloud containing RGB information.

Parameters

[in]	input_image	A pointer to a pointcloud containing RGB information.
[out]	output_image	A pointer to the output pointcloud.
[in]	width	Output width.
[in]	height	Output height.

Definition at line 109 of file person_classifier.hpp.

◆ setSVM()

template<typename PointT >

void pcl::people::PersonClassifier< PointT >::setSVM	(	int	window_height,
		int	window_width,
		std::vector< float >	SVM_weights,
		float	SVM_offset
	)

Set trained SVM for person confidence estimation.

Parameters

[in]	window_height	Detection window height.
[in]	window_width	Detection window width.
[in]	SVM_weights	SVM weights vector.
[in]	SVM_offset	SVM offset.

Definition at line 91 of file person_classifier.hpp.

Member Data Documentation

◆ SVM_offset_

template<typename PointT >

float pcl::people::PersonClassifier< PointT >::SVM_offset_

protected

SVM offset.

Definition at line 64 of file person_classifier.h.

◆ SVM_weights_

template<typename PointT >

std::vector<float> pcl::people::PersonClassifier< PointT >::SVM_weights_

protected

SVM weights vector.

Definition at line 67 of file person_classifier.h.

◆ window_height_

template<typename PointT >

int pcl::people::PersonClassifier< PointT >::window_height_

protected

Height of the image patch to classify.

Definition at line 58 of file person_classifier.h.

◆ window_width_

template<typename PointT >

int pcl::people::PersonClassifier< PointT >::window_width_

protected

Width of the image patch to classify.

Definition at line 61 of file person_classifier.h.

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

pcl/people/person_classifier.h
pcl/people/impl/person_classifier.hpp

Public Types

Public Member Functions

Protected Attributes

Detailed Description

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

Member Typedef Documentation

◆ PointCloud

◆ PointCloudPtr

Constructor & Destructor Documentation

◆ PersonClassifier()

◆ ~PersonClassifier()

Member Function Documentation

◆ copyMakeBorder()

◆ evaluate() [1/2]

◆ evaluate() [2/2]

◆ getSVM()

◆ loadSVMFromFile()

◆ resize()

◆ setSVM()

Member Data Documentation

◆ SVM_offset_

◆ SVM_weights_

◆ window_height_

◆ window_width_

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