Point Cloud Library (PCL)  1.14.1
ground_based_people_detection_app.h
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36  * ground_based_people_detection_app.h
37  * Created on: Nov 30, 2012
38  * Author: Matteo Munaro
39  */
40 
41 #pragma once
42 
43 #include <pcl/point_types.h>
44 #include <pcl/sample_consensus/sac_model_plane.h>
45 #include <pcl/sample_consensus/ransac.h>
46 #include <pcl/kdtree/kdtree.h>
47 #include <pcl/people/person_cluster.h>
48 #include <pcl/people/head_based_subcluster.h>
49 #include <pcl/people/person_classifier.h>
50 #include <pcl/common/transforms.h>
51 
52 namespace pcl
53 {
54  namespace people
55  {
56  /** \brief GroundBasedPeopleDetectionApp performs people detection on RGB-D data having as input the ground plane coefficients.
57  * It implements the people detection algorithm described here:
58  * M. Munaro, F. Basso and E. Menegatti,
59  * Tracking people within groups with RGB-D data,
60  * In Proceedings of the International Conference on Intelligent Robots and Systems (IROS) 2012, Vilamoura (Portugal), 2012.
61  *
62  * \author Matteo Munaro
63  * \ingroup people
64  */
65  template <typename PointT> class GroundBasedPeopleDetectionApp;
66 
67  template <typename PointT>
69  {
70  public:
71 
73  using PointCloudPtr = typename PointCloud::Ptr;
75 
76  /** \brief Constructor. */
78 
79  /** \brief Destructor. */
81 
82  /**
83  * \brief Set the pointer to the input cloud.
84  *
85  * \param[in] cloud A pointer to the input cloud.
86  */
87  void
89 
90  /**
91  * \brief Set the ground coefficients.
92  *
93  * \param[in] ground_coeffs Vector containing the four plane coefficients.
94  */
95  void
96  setGround (Eigen::VectorXf& ground_coeffs);
97 
98  /**
99  * \brief Set the transformation matrix, which is used in order to transform the given point cloud, the ground plane and the intrinsics matrix to the internal coordinate frame.
100  * \param[in] transformation
101  */
102  void
103  setTransformation (const Eigen::Matrix3f& transformation);
104 
105  /**
106  * \brief Set sampling factor.
107  *
108  * \param[in] sampling_factor Value of the downsampling factor (in each dimension) which is applied to the raw point cloud (default = 1.).
109  */
110  void
111  setSamplingFactor (int sampling_factor);
112 
113  /**
114  * \brief Set voxel size.
115  *
116  * \param[in] voxel_size Value of the voxel dimension (default = 0.06m.).
117  */
118  void
119  setVoxelSize (float voxel_size);
120 
121  /**
122  * \brief Set intrinsic parameters of the RGB camera.
123  *
124  * \param[in] intrinsics_matrix RGB camera intrinsic parameters matrix.
125  */
126  void
127  setIntrinsics (Eigen::Matrix3f intrinsics_matrix);
128 
129  /**
130  * \brief Set SVM-based person classifier.
131  *
132  * \param[in] person_classifier Needed for people detection on RGB data.
133  */
134  void
136 
137  /**
138  * \brief Set the field of view of the point cloud in z direction.
139  *
140  * \param[in] min The beginning of the field of view in z-direction, should be usually set to zero.
141  * \param[in] max The end of the field of view in z-direction.
142  */
143  void
144  setFOV (float min, float max);
145 
146  /**
147  * \brief Set sensor orientation (vertical = true means portrait mode, vertical = false means landscape mode).
148  *
149  * \param[in] vertical Set landscape/portrait camera orientation (default = false).
150  */
151  void
152  setSensorPortraitOrientation (bool vertical);
153 
154  /**
155  * \brief Set head_centroid_ to true (person centroid is in the head) or false (person centroid is the whole body centroid).
156  *
157  * \param[in] head_centroid Set the location of the person centroid (head or body center) (default = true).
158  */
159  void
160  setHeadCentroid (bool head_centroid);
161 
162  /**
163  * \brief Set minimum and maximum allowed height and width for a person cluster.
164  *
165  * \param[in] min_height Minimum allowed height for a person cluster (default = 1.3).
166  * \param[in] max_height Maximum allowed height for a person cluster (default = 2.3).
167  * \param[in] min_width Minimum width for a person cluster (default = 0.1).
168  * \param[in] max_width Maximum width for a person cluster (default = 8.0).
169  */
170  void
171  setPersonClusterLimits (float min_height, float max_height, float min_width, float max_width);
172 
173  /**
174  * \brief Set minimum distance between persons' heads.
175  *
176  * \param[in] heads_minimum_distance Minimum allowed distance between persons' heads (default = 0.3).
177  */
178  void
179  setMinimumDistanceBetweenHeads (float heads_minimum_distance);
180 
181  /**
182  * \brief Get the minimum and maximum allowed height and width for a person cluster.
183  *
184  * \param[out] min_height Minimum allowed height for a person cluster.
185  * \param[out] max_height Maximum allowed height for a person cluster.
186  * \param[out] min_width Minimum width for a person cluster.
187  * \param[out] max_width Maximum width for a person cluster.
188  */
189  void
190  getPersonClusterLimits (float& min_height, float& max_height, float& min_width, float& max_width);
191 
192  /**
193  * \brief Get minimum and maximum allowed number of points for a person cluster.
194  *
195  * \param[out] min_points Minimum allowed number of points for a person cluster.
196  * \param[out] max_points Maximum allowed number of points for a person cluster.
197  */
198  void
199  getDimensionLimits (int& min_points, int& max_points);
200 
201  /**
202  * \brief Get minimum distance between persons' heads.
203  */
204  float
206 
207  /**
208  * \brief Get floor coefficients.
209  */
210  Eigen::VectorXf
211  getGround ();
212 
213  /**
214  * \brief Get the filtered point cloud.
215  */
217  getFilteredCloud ();
218 
219  /**
220  * \brief Get pointcloud after voxel grid filtering and ground removal.
221  */
223  getNoGroundCloud ();
224 
225  /**
226  * \brief Extract RGB information from a point cloud and output the corresponding RGB point cloud.
227  *
228  * \param[in] input_cloud A pointer to a point cloud containing also RGB information.
229  * \param[out] output_cloud A pointer to a RGB point cloud.
230  */
231  void
233 
234  /**
235  * \brief Swap rows/cols dimensions of a RGB point cloud (90 degrees counterclockwise rotation).
236  *
237  * \param[in,out] cloud A pointer to a RGB point cloud.
238  */
239  void
241 
242  /**
243  * \brief Estimates min_points_ and max_points_ based on the minimal and maximal cluster size and the voxel size.
244  */
245  void
247 
248  /**
249  * \brief Applies the transformation to the input point cloud.
250  */
251  void
253 
254  /**
255  * \brief Applies the transformation to the ground plane.
256  */
257  void
259 
260  /**
261  * \brief Applies the transformation to the intrinsics matrix.
262  */
263  void
265 
266  /**
267  * \brief Reduces the input cloud to one point per voxel and limits the field of view.
268  */
269  void
270  filter ();
271 
272  /**
273  * \brief Perform people detection on the input data and return people clusters information.
274  *
275  * \param[out] clusters Vector of PersonCluster.
276  *
277  * \return true if the compute operation is successful, false otherwise.
278  */
279  bool
280  compute (std::vector<pcl::people::PersonCluster<PointT> >& clusters);
281 
282  protected:
283  /** \brief sampling factor used to downsample the point cloud */
285 
286  /** \brief voxel size */
287  float voxel_size_;
288 
289  /** \brief ground plane coefficients */
290  Eigen::VectorXf ground_coeffs_;
291 
292  /** \brief flag stating whether the ground coefficients have been set or not */
294 
295  /** \brief the transformed ground coefficients */
296  Eigen::VectorXf ground_coeffs_transformed_;
297 
298  /** \brief ground plane normalization factor */
300 
301  /** \brief rotation matrix which transforms input point cloud to internal people tracker coordinate frame */
302  Eigen::Matrix3f transformation_;
303 
304  /** \brief flag stating whether the transformation matrix has been set or not */
306 
307  /** \brief pointer to the input cloud */
309 
310  /** \brief pointer to the filtered cloud */
312 
313  /** \brief pointer to the cloud after voxel grid filtering and ground removal */
315 
316  /** \brief pointer to a RGB cloud corresponding to cloud_ */
318 
319  /** \brief person clusters maximum height from the ground plane */
320  float max_height_;
321 
322  /** \brief person clusters minimum height from the ground plane */
323  float min_height_;
324 
325  /** \brief person clusters maximum width, used to estimate how many points maximally represent a person cluster */
326  float max_width_;
327 
328  /** \brief person clusters minimum width, used to estimate how many points minimally represent a person cluster */
329  float min_width_;
330 
331  /** \brief the beginning of the field of view in z-direction, should be usually set to zero */
332  float min_fov_;
333 
334  /** \brief the end of the field of view in z-direction */
335  float max_fov_;
336 
337  /** \brief if true, the sensor is considered to be vertically placed (portrait mode) */
338  bool vertical_;
339 
340  /** \brief if true, the person centroid is computed as the centroid of the cluster points belonging to the head;
341  * if false, the person centroid is computed as the centroid of the whole cluster points (default = true) */
342  bool head_centroid_; // if true, the person centroid is computed as the centroid of the cluster points belonging to the head (default = true)
343  // if false, the person centroid is computed as the centroid of the whole cluster points
344  /** \brief maximum number of points for a person cluster */
346 
347  /** \brief minimum number of points for a person cluster */
349 
350  /** \brief minimum distance between persons' heads */
352 
353  /** \brief intrinsic parameters matrix of the RGB camera */
354  Eigen::Matrix3f intrinsics_matrix_;
355 
356  /** \brief flag stating whether the intrinsics matrix has been set or not */
358 
359  /** \brief the transformed intrinsics matrix */
361 
362  /** \brief SVM-based person classifier */
364 
365  /** \brief flag stating if the classifier has been set or not */
367  };
368  } /* namespace people */
369 } /* namespace pcl */
370 #include <pcl/people/impl/ground_based_people_detection_app.hpp>
void setFOV(float min, float max)
Set the field of view of the point cloud in z direction.
GroundBasedPeopleDetectionApp performs people detection on RGB-D data having as input the ground plan...
void getDimensionLimits(int &min_points, int &max_points)
Get minimum and maximum allowed number of points for a person cluster.
void updateMinMaxPoints()
Estimates min_points_ and max_points_ based on the minimal and maximal cluster size and the voxel siz...
PointCloudPtr cloud_filtered_
pointer to the filtered cloud
Eigen::Matrix3f intrinsics_matrix_
intrinsic parameters matrix of the RGB camera
shared_ptr< PointCloud< PointT > > Ptr
Definition: point_cloud.h:413
Eigen::VectorXf ground_coeffs_
ground plane coefficients
float heads_minimum_distance_
minimum distance between persons' heads
bool compute(std::vector< pcl::people::PersonCluster< PointT > > &clusters)
Perform people detection on the input data and return people clusters information.
Eigen::Matrix3f transformation_
rotation matrix which transforms input point cloud to internal people tracker coordinate frame ...
bool person_classifier_set_flag_
flag stating if the classifier has been set or not
float max_height_
person clusters maximum height from the ground plane
float getMinimumDistanceBetweenHeads()
Get minimum distance between persons' heads.
void setMinimumDistanceBetweenHeads(float heads_minimum_distance)
Set minimum distance between persons' heads.
int sampling_factor_
sampling factor used to downsample the point cloud
float sqrt_ground_coeffs_
ground plane normalization factor
virtual ~GroundBasedPeopleDetectionApp()
Destructor.
void setPersonClusterLimits(float min_height, float max_height, float min_width, float max_width)
Set minimum and maximum allowed height and width for a person cluster.
float max_fov_
the end of the field of view in z-direction
void setSamplingFactor(int sampling_factor)
Set sampling factor.
int max_points_
maximum number of points for a person cluster
PointCloudPtr getFilteredCloud()
Get the filtered point cloud.
int min_points_
minimum number of points for a person cluster
bool head_centroid_
if true, the person centroid is computed as the centroid of the cluster points belonging to the head;...
pcl::people::PersonClassifier< pcl::RGB > person_classifier_
SVM-based person classifier.
bool transformation_set_
flag stating whether the transformation matrix has been set or not
float max_width_
person clusters maximum width, used to estimate how many points maximally represent a person cluster ...
float min_height_
person clusters minimum height from the ground plane
float min_fov_
the beginning of the field of view in z-direction, should be usually set to zero
PersonCluster represents a class for representing information about a cluster containing a person...
void applyTransformationGround()
Applies the transformation to the ground plane.
void applyTransformationIntrinsics()
Applies the transformation to the intrinsics matrix.
void extractRGBFromPointCloud(PointCloudPtr input_cloud, pcl::PointCloud< pcl::RGB >::Ptr &output_cloud)
Extract RGB information from a point cloud and output the corresponding RGB point cloud...
Eigen::VectorXf getGround()
Get floor coefficients.
void swapDimensions(pcl::PointCloud< pcl::RGB >::Ptr &cloud)
Swap rows/cols dimensions of a RGB point cloud (90 degrees counterclockwise rotation).
void setTransformation(const Eigen::Matrix3f &transformation)
Set the transformation matrix, which is used in order to transform the given point cloud...
void getPersonClusterLimits(float &min_height, float &max_height, float &min_width, float &max_width)
Get the minimum and maximum allowed height and width for a person cluster.
void setInputCloud(PointCloudPtr &cloud)
Set the pointer to the input cloud.
void setClassifier(pcl::people::PersonClassifier< pcl::RGB > person_classifier)
Set SVM-based person classifier.
void setGround(Eigen::VectorXf &ground_coeffs)
Set the ground coefficients.
PointCloud represents the base class in PCL for storing collections of 3D points. ...
Definition: distances.h:55
void setHeadCentroid(bool head_centroid)
Set head_centroid_ to true (person centroid is in the head) or false (person centroid is the whole bo...
bool ground_coeffs_set_
flag stating whether the ground coefficients have been set or not
bool vertical_
if true, the sensor is considered to be vertically placed (portrait mode)
Eigen::Matrix3f intrinsics_matrix_transformed_
the transformed intrinsics matrix
shared_ptr< const PointCloud< PointT > > ConstPtr
Definition: point_cloud.h:414
float min_width_
person clusters minimum width, used to estimate how many points minimally represent a person cluster ...
PointCloudPtr getNoGroundCloud()
Get pointcloud after voxel grid filtering and ground removal.
void applyTransformationPointCloud()
Applies the transformation to the input point cloud.
bool intrinsics_matrix_set_
flag stating whether the intrinsics matrix has been set or not
Eigen::VectorXf ground_coeffs_transformed_
the transformed ground coefficients
void filter()
Reduces the input cloud to one point per voxel and limits the field of view.
PointCloudPtr no_ground_cloud_
pointer to the cloud after voxel grid filtering and ground removal
void setIntrinsics(Eigen::Matrix3f intrinsics_matrix)
Set intrinsic parameters of the RGB camera.
pcl::PointCloud< pcl::RGB >::Ptr rgb_image_
pointer to a RGB cloud corresponding to cloud_
void setSensorPortraitOrientation(bool vertical)
Set sensor orientation (vertical = true means portrait mode, vertical = false means landscape mode)...