Point Cloud Library (PCL)
1.11.0
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44 #include <pcl/console/print.h>
45 #include <pcl/gpu/containers/device_array.h>
46 #include <pcl/gpu/people/label_common.h>
47 #include <pcl/gpu/people/tree.h>
48 #include <pcl/gpu/people/person_attribs.h>
51 #include <pcl/gpu/people/bodyparts_detector.h>
52 #include <pcl/gpu/people/face_detector.h>
53 #include <pcl/gpu/people/organized_plane_detector.h>
54 #include <pcl/gpu/people/probability_processor.h>
65 using Ptr = shared_ptr<PeopleDetector>;
66 using ConstPtr = shared_ptr<const PeopleDetector>;
107 delta_hue_tolerance_ = delta_hue_tolerance;
114 return (delta_hue_tolerance_);
118 inline const std::string
getClassName ()
const {
return "PeopleDetector"; }
163 friend class PeoplePCDApp;
int process(const Depth &depth, const Image &rgba)
OrganizedPlaneDetector::Ptr org_plane_detector_
~PeopleDetector()
Class destructor.
shared_ptr< ProbabilityProcessor > Ptr
RDFBodyPartsDetector::Ptr rdf_detector_
PointCloud represents the base class in PCL for storing collections of 3D points.
void setIntrinsics(float fx, float fy, float cx=-1, float cy=-1)
User must set non standard intrinsics.
PointCloud< PointT > cloud_host_
FaceDetector::Ptr face_detector_
A point structure representing Euclidean xyz coordinates, and the RGBA color.
void setDeltaHueTolerance(unsigned int delta_hue_tolerance)
Set the tolerance for the delta on the Hue in Seeded Hue Segmentation step.
int processProb(const PointCloud< PointTC >::ConstPtr &cloud)
A point structure representing Euclidean xyz coordinates.
PointCloud< float > hue_host_
shared_ptr< const PeopleDetector > ConstPtr
shared_ptr< RDFBodyPartsDetector > Ptr
bool first_iteration_
indicates first time callback (allows for tracking features to start from second frame)
int processProb()
Process the depth based on probabilities supporting tracking, person specific files used.
int process(const PointCloud< PointTC >::ConstPtr &cloud)
Possible will be removed because of extra overheads.
ProbabilityProcessor::Ptr probability_processor_
shared_ptr< FaceDetector > Ptr
PointCloud< unsigned short > depth_host_
PeopleDetector()
Class constructor.
const std::string getClassName() const
Class getName method.
shared_ptr< PeopleDetector > Ptr
PointCloud< PointTC > cloud_host_color_
void allocate_buffers(int rows=480, int cols=640)
DeviceArray< unsigned char > kernelRect5x5_
shared_ptr< const PointCloud< PointT > > ConstPtr
shared_ptr< PersonAttribs > Ptr
unsigned int getDeltaHueTolerance() const
Get the tolerance for the delta on the Hue in Seeded Hue Segmentation step, defaults to 5.
DeviceArray2D< PointT > cloud_device_
PersonAttribs::Ptr person_attribs_
unsigned int delta_hue_tolerance_
shared_ptr< OrganizedPlaneDetector > Ptr
PointCloud< unsigned char > flowermat_host_
void shs5(const pcl::PointCloud< PointT > &cloud, const std::vector< int > &indices, unsigned char *mask)