people_detector.h

/*
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 *  Copyright (c) 2011, Willow Garage, Inc.
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 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
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 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
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 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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 * @author: Koen Buys
 */
 
#pragma once
 
#include <iostream>
#include <sstream>
#include <fstream>
 
#include <pcl/point_types.h>
#include <pcl/console/print.h>
#include <pcl/gpu/containers/device_array.h>
#include <pcl/gpu/people/label_common.h>
#include <pcl/gpu/people/tree.h>
#include <pcl/gpu/people/person_attribs.h>
//#include <opencv2/core/core.hpp>
 
#include <pcl/gpu/people/bodyparts_detector.h>
#include <pcl/gpu/people/face_detector.h>
#include <pcl/gpu/people/organized_plane_detector.h>
#include <pcl/gpu/people/probability_processor.h>
 
namespace pcl
{
  namespace gpu
  {
    namespace people
    {
      class PCL_EXPORTS PeopleDetector
      {
        public:
          using Ptr = shared_ptr<PeopleDetector>;                              
          using ConstPtr = shared_ptr<const PeopleDetector>;
 
          using PointTC = pcl::PointXYZRGBA;
          using PointT = pcl::PointXYZ;
          using Depth = DeviceArray2D<unsigned short>;
          using Image = DeviceArray2D<pcl::RGB>;
 
          // ALL THE DETECTOR OBJECTS
          RDFBodyPartsDetector::Ptr     rdf_detector_;
          OrganizedPlaneDetector::Ptr   org_plane_detector_;
          FaceDetector::Ptr             face_detector_;
          //OtherDetector::Ptr          other_detector_;
 
          // ALL THE OTHER PEOPLE STUFF
          PersonAttribs::Ptr            person_attribs_;
          ProbabilityProcessor::Ptr     probability_processor_;
 
          /** \brief Class constructor. */
          PeopleDetector ();               
 
          /** \brief User must set non standard intrinsics */
          void
          setIntrinsics (float fx, float fy, float cx = -1, float cy = -1);                    
 
          /** \brief Possible will be removed because of extra overheads */
          int
          process (const PointCloud<PointTC>::ConstPtr &cloud);
 
          int
          processProb (const PointCloud<PointTC>::ConstPtr &cloud);
 
          int
          process (const Depth& depth, const Image& rgba);
         
          /** \brief Set the tolerance for the delta on the Hue in Seeded Hue Segmentation step */
          inline void
          setDeltaHueTolerance (unsigned int delta_hue_tolerance)
          {
            delta_hue_tolerance_ = delta_hue_tolerance;
          }
 
          /** \brief Get the tolerance for the delta on the Hue in Seeded Hue Segmentation step, defaults to 5 */
          inline unsigned int
          getDeltaHueTolerance () const
          {
            return (delta_hue_tolerance_);
          }
              
          /** \brief Class getName method. */
          inline const std::string getClassName () const { return "PeopleDetector"; }
 
          using Labels = DeviceArray2D<unsigned char>;
          using Mask = DeviceArray2D<unsigned char>;
          using Hue = DeviceArray2D<float>;
 
          /** \brief indicates first time callback (allows for tracking features to start from second frame) **/
          bool first_iteration_;
          float fx_, fy_, cx_, cy_;
          unsigned int  delta_hue_tolerance_;
                   
          DeviceArray<unsigned char>  kernelRect5x5_;
 
          PointCloud<PointT>          cloud_host_;
          PointCloud<PointTC>         cloud_host_color_;
          PointCloud<float>           hue_host_;
          PointCloud<unsigned short>  depth_host_;
          PointCloud<unsigned char>   flowermat_host_;
                    
          DeviceArray2D<PointT>       cloud_device_;
 
          Hue                         hue_device_;
 
          Depth                       depth_device1_;
          Depth                       depth_device2_;
          
          Mask                        fg_mask_;
          Mask                        fg_mask_grown_;
 
          int
          process ();
 
          /**
           * \brief Process the depth based on probabilities supporting tracking, person specific files used
           **/
          int
          processProb ();
 
          void 
          allocate_buffers (int rows = 480, int cols = 640);
 
          void 
          shs5 (const pcl::PointCloud<PointT> &cloud, const pcl::Indices& indices, unsigned char *mask);
 
          //!!! only for debug purposes TODO: remove this. 
          friend class PeoplePCDApp;
      };
    }
  }
}