Point Cloud Library (PCL) 1.15.0
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bodyparts_detector.h
1/*
2 * Software License Agreement (BSD License)
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4 * Copyright (c) 2011, Willow Garage, Inc.
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19 * from this software without specific prior written permission.
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21 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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33 *
34 * @author: Koen Buys, Anatoly Baksheev
35 */
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
52namespace pcl
53{
54 namespace device
55 {
56 // This just seems hacky ...
57 class MultiTreeLiveProc;
58 }
59
60 namespace gpu
61 {
62 namespace people
63 {
64 class PCL_EXPORTS RDFBodyPartsDetector
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.
shared_ptr< PersonAttribs > Ptr
Labels labels_smoothed_
This contains the smoothed final body part labels.
const pcl::device::LabelProbability & getPrevProbability1() const
const BlobMatrix & getBlobMatrix() const
pcl::device::LabelProbability P_l_
These contain the histograms of the labels for this detector.
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.
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 & getProbability() const
const pcl::device::LabelProbability & getPrevProbability2() const
int processRelations(PersonAttribs::Ptr person_attribs)
This processes the blob_matrix_.
pcl::device::LabelProbability P_l_Gaus_Temp_
const pcl::device::LabelProbability & getProbability1() const
int processRelations()
This processes the blob_matrix_.
const pcl::device::LabelProbability & getProbability2() const
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
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.