41 #ifndef PCL_PEOPLE_PERSON_CLASSIFIER_H_
42 #define PCL_PEOPLE_PERSON_CLASSIFIER_H_
44 #include <pcl/people/person_cluster.h>
45 #include <pcl/people/hog.h>
53 template <
typename Po
intT>
99 setSVM (
int window_height,
int window_width, std::vector<float> SVM_weights,
float SVM_offset);
110 getSVM (
int& window_height,
int& window_width, std::vector<float>& SVM_weights,
float& SVM_offset);
121 resize (PointCloudPtr& input_image, PointCloudPtr& output_image,
122 int width,
int height);
135 copyMakeBorder (PointCloudPtr& input_image, PointCloudPtr& output_image,
136 int xmin,
int ymin,
int width,
int height);
148 evaluate (
float height,
float xc,
float yc, PointCloudPtr& image);
161 evaluate (PointCloudPtr& image, Eigen::Vector3f& bottom, Eigen::Vector3f& top, Eigen::Vector3f& centroid,
166 #include <pcl/people/impl/person_classifier.hpp>
virtual ~PersonClassifier()
Destructor.
double evaluate(float height, float xc, float yc, PointCloudPtr &image)
Classify the given portion of image.
pcl::PointCloud< PointT > PointCloud
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...
bool loadSVMFromFile(std::string svm_filename)
Load SVM parameters from a text file.
void resize(PointCloudPtr &input_image, PointCloudPtr &output_image, int width, int height)
Resize an image represented by a pointcloud containing RGB information.
std::vector< float > SVM_weights_
SVM weights vector.
void setSVM(int window_height, int window_width, std::vector< float > SVM_weights, float SVM_offset)
Set trained SVM for person confidence estimation.
boost::shared_ptr< PointCloud > PointCloudPtr
int window_width_
Width of the image patch to classify.
void getSVM(int &window_height, int &window_width, std::vector< float > &SVM_weights, float &SVM_offset)
Get trained SVM for person confidence estimation.
float SVM_offset_
SVM offset.
PointCloud represents the base class in PCL for storing collections of 3D points. ...
int window_height_
Height of the image patch to classify.
PersonClassifier()
Constructor.