PersonCluster represents a class for representing information about a cluster containing a person. More...

#include <pcl/people/person_cluster.h>

Public Types
using	PointCloud = pcl::PointCloud<PointT>
using	PointCloudPtr = typename PointCloud::Ptr
using	PointCloudConstPtr = typename PointCloud::ConstPtr

Public Member Functions
	PersonCluster (const PointCloudPtr &input_cloud, const pcl::PointIndices &indices, const Eigen::VectorXf &ground_coeffs, float sqrt_ground_coeffs, bool head_centroid, bool vertical=false)
	Constructor.
virtual	~PersonCluster ()
	Destructor.
float	getHeight () const
	Returns the height of the cluster.
float	updateHeight (const Eigen::VectorXf &ground_coeffs)
	Update the height of the cluster.
float	updateHeight (const Eigen::VectorXf &ground_coeffs, float sqrt_ground_coeffs)
	Update the height of the cluster.
float	getDistance () const
	Returns the distance of the cluster from the sensor.
float	getAngle () const
	Returns the angle formed by the cluster's centroid with respect to the sensor (in radians).
float	getAngleMin () const
	Returns the minimum angle formed by the cluster with respect to the sensor (in radians).
float	getAngleMax () const
	Returns the maximum angle formed by the cluster with respect to the sensor (in radians).
pcl::PointIndices &	getIndices ()
	Returns the indices of the point cloud points corresponding to the cluster.
Eigen::Vector3f &	getTTop ()
	Returns the theoretical top point.
Eigen::Vector3f &	getTBottom ()
	Returns the theoretical bottom point.
Eigen::Vector3f &	getTCenter ()
	Returns the theoretical centroid (at half height).
Eigen::Vector3f &	getTop ()
	Returns the top point.
Eigen::Vector3f &	getBottom ()
	Returns the bottom point.
Eigen::Vector3f &	getCenter ()
	Returns the centroid.
Eigen::Vector3f &	getMin ()
	Returns the point formed by min x, min y and min z.
Eigen::Vector3f &	getMax ()
	Returns the point formed by max x, max y and max z.
float	getPersonConfidence () const
	Returns the HOG confidence.
int	getNumberPoints () const
	Returns the number of points of the cluster.
void	setHeight (float height)
	Sets the cluster height.
void	setPersonConfidence (float confidence)
	Sets the HOG confidence.
void	drawTBoundingBox (pcl::visualization::PCLVisualizer &viewer, int person_number)
	Draws the theoretical 3D bounding box of the cluster in the PCL visualizer.

Protected Member Functions
void	init (const PointCloudPtr &input_cloud, const pcl::PointIndices &indices, const Eigen::VectorXf &ground_coeffs, float sqrt_ground_coeffs, bool head_centroid, bool vertical)
	PersonCluster initialization.

Protected Attributes
bool	head_centroid_
float	min_x_
	Minimum x coordinate of the cluster points.
float	min_y_
	Minimum y coordinate of the cluster points.
float	min_z_
	Minimum z coordinate of the cluster points.
float	max_x_
	Maximum x coordinate of the cluster points.
float	max_y_
	Maximum y coordinate of the cluster points.
float	max_z_
	Maximum z coordinate of the cluster points.
float	sum_x_
	Sum of x coordinates of the cluster points.
float	sum_y_
	Sum of y coordinates of the cluster points.
float	sum_z_
	Sum of z coordinates of the cluster points.
int	n_
	Number of cluster points.
float	c_x_
	x coordinate of the cluster centroid.
float	c_y_
	y coordinate of the cluster centroid.
float	c_z_
	z coordinate of the cluster centroid.
float	height_
	Cluster height from the ground plane.
float	distance_
	Cluster distance from the sensor.
float	angle_
	Cluster centroid horizontal angle with respect to z axis.
float	angle_max_
	Maximum angle of the cluster points.
float	angle_min_
	Minimum angle of the cluster points.
Eigen::Vector3f	top_
	Cluster top point.
Eigen::Vector3f	bottom_
	Cluster bottom point.
Eigen::Vector3f	center_
	Cluster centroid.
Eigen::Vector3f	ttop_
	Theoretical cluster top.
Eigen::Vector3f	tbottom_
	Theoretical cluster bottom (lying on the ground plane).
Eigen::Vector3f	tcenter_
	Theoretical cluster center (between ttop_ and tbottom_).
Eigen::Vector3f	min_
	Vector containing the minimum coordinates of the cluster.
Eigen::Vector3f	max_
	Vector containing the maximum coordinates of the cluster.
pcl::PointIndices	points_indices_
	Point cloud indices of the cluster points.
bool	vertical_
	If true, the sensor is considered to be vertically placed (portrait mode).
float	person_confidence_
	PersonCluster HOG confidence.

Friends
bool	operator< (const PersonCluster< PointT > &c1, const PersonCluster< PointT > &c2)
	For sorting purpose: sort by distance.

Detailed Description

template<typename PointT>
class pcl::people::PersonCluster< PointT >

PersonCluster represents a class for representing information about a cluster containing a person.

Author: Filippo Basso, Matteo Munaro

Definition at line 58 of file person_cluster.h.

Member Typedef Documentation

◆ PointCloud

template<typename PointT>

using pcl::people::PersonCluster< PointT >::PointCloud = pcl::PointCloud<PointT>

Definition at line 137 of file person_cluster.h.

◆ PointCloudConstPtr

template<typename PointT>

using pcl::people::PersonCluster< PointT >::PointCloudConstPtr = typename PointCloud::ConstPtr

Definition at line 139 of file person_cluster.h.

◆ PointCloudPtr

template<typename PointT>

using pcl::people::PersonCluster< PointT >::PointCloudPtr = typename PointCloud::Ptr

Definition at line 138 of file person_cluster.h.

Constructor & Destructor Documentation

◆ PersonCluster()

template<typename PointT>

pcl::people::PersonCluster< PointT >::PersonCluster	(	const PointCloudPtr &	input_cloud,
		const pcl::PointIndices &	indices,
		const Eigen::VectorXf &	ground_coeffs,
		float	sqrt_ground_coeffs,
		bool	head_centroid,
		bool	vertical = false )

Constructor.

Definition at line 47 of file person_cluster.hpp.

References init().

Referenced by operator<.

◆ ~PersonCluster()

template<typename PointT>

pcl::people::PersonCluster< PointT >::~PersonCluster ( )

virtualdefault

Destructor.

Member Function Documentation

◆ drawTBoundingBox()

template<typename PointT>

void pcl::people::PersonCluster< PointT >::drawTBoundingBox	(	pcl::visualization::PCLVisualizer &	viewer,
		int	person_number )

Draws the theoretical 3D bounding box of the cluster in the PCL visualizer.

Parameters

[in]	viewer	PCL visualizer.
[in]	person_number	progressive number representing the person.

Definition at line 385 of file person_cluster.hpp.

References pcl::visualization::PCLVisualizer::addCube(), height_, pcl::visualization::PCL_VISUALIZER_COLOR, pcl::visualization::PCL_VISUALIZER_LINE_WIDTH, pcl::visualization::PCLVisualizer::removeShape(), pcl::visualization::PCLVisualizer::setShapeRenderingProperties(), tcenter_, pcl::ModelCoefficients::values, and vertical_.

◆ getAngle()

template<typename PointT>

float pcl::people::PersonCluster< PointT >::getAngle ( ) const

Returns the angle formed by the cluster's centroid with respect to the sensor (in radians).

Returns: the angle formed by the cluster's centroid with respect to the sensor (in radians).

Definition at line 343 of file person_cluster.hpp.

References angle_.

◆ getAngleMax()

template<typename PointT>

float pcl::people::PersonCluster< PointT >::getAngleMax ( ) const

Returns the maximum angle formed by the cluster with respect to the sensor (in radians).

Returns: the maximum angle formed by the cluster with respect to the sensor (in radians).

Definition at line 349 of file person_cluster.hpp.

References angle_max_.

◆ getAngleMin()

template<typename PointT>

float pcl::people::PersonCluster< PointT >::getAngleMin ( ) const

Returns the minimum angle formed by the cluster with respect to the sensor (in radians).

Returns: the minimum angle formed by the cluster with respect to the sensor (in radians).

Definition at line 355 of file person_cluster.hpp.

References angle_min_.

◆ getBottom()

template<typename PointT>

Eigen::Vector3f & pcl::people::PersonCluster< PointT >::getBottom ( )

Returns the bottom point.

Returns: the bottom point.

Definition at line 319 of file person_cluster.hpp.

References bottom_.

◆ getCenter()

template<typename PointT>

Eigen::Vector3f & pcl::people::PersonCluster< PointT >::getCenter ( )

Returns the centroid.

Returns: the centroid.

Definition at line 325 of file person_cluster.hpp.

References center_.

◆ getDistance()

template<typename PointT>

float pcl::people::PersonCluster< PointT >::getDistance ( ) const

Returns the distance of the cluster from the sensor.

Returns: the distance of the cluster (its centroid) from the sensor without considering the y dimension.

Definition at line 289 of file person_cluster.hpp.

References distance_.

◆ getHeight()

template<typename PointT>

float pcl::people::PersonCluster< PointT >::getHeight ( ) const

Returns the height of the cluster.

Returns: the height of the cluster.

Definition at line 261 of file person_cluster.hpp.

References height_.

◆ getIndices()

template<typename PointT>

pcl::PointIndices & pcl::people::PersonCluster< PointT >::getIndices ( )

Returns the indices of the point cloud points corresponding to the cluster.

Returns: the indices of the point cloud points corresponding to the cluster.

Definition at line 255 of file person_cluster.hpp.

References points_indices_.

Referenced by pcl::people::HeightMap2D< PointT >::compute(), and pcl::people::HeadBasedSubclustering< PointT >::createSubClusters().

◆ getMax()

template<typename PointT>

Eigen::Vector3f & pcl::people::PersonCluster< PointT >::getMax ( )

Returns the point formed by max x, max y and max z.

Returns: the point formed by max x, max y and max z.

Definition at line 337 of file person_cluster.hpp.

References max_.

Referenced by pcl::people::HeightMap2D< PointT >::compute().

◆ getMin()

template<typename PointT>

Eigen::Vector3f & pcl::people::PersonCluster< PointT >::getMin ( )

Returns the point formed by min x, min y and min z.

Returns: the point formed by min x, min y and min z.

Definition at line 331 of file person_cluster.hpp.

References min_.

Referenced by pcl::people::HeightMap2D< PointT >::compute().

◆ getNumberPoints()

template<typename PointT>

int pcl::people::PersonCluster< PointT >::getNumberPoints ( ) const

Returns the number of points of the cluster.

Returns: the number of points of the cluster.

Definition at line 361 of file person_cluster.hpp.

References n_.

◆ getPersonConfidence()

template<typename PointT>

float pcl::people::PersonCluster< PointT >::getPersonConfidence ( ) const

Returns the HOG confidence.

Returns: the HOG confidence.

Definition at line 367 of file person_cluster.hpp.

References person_confidence_.

◆ getTBottom()

template<typename PointT>

Eigen::Vector3f & pcl::people::PersonCluster< PointT >::getTBottom ( )

Returns the theoretical bottom point.

Returns: the theoretical bottom point.

Definition at line 301 of file person_cluster.hpp.

References tbottom_.

◆ getTCenter()

template<typename PointT>

Eigen::Vector3f & pcl::people::PersonCluster< PointT >::getTCenter ( )

Returns the theoretical centroid (at half height).

Returns: the theoretical centroid (at half height).

Definition at line 307 of file person_cluster.hpp.

References tcenter_.

◆ getTop()

template<typename PointT>

Eigen::Vector3f & pcl::people::PersonCluster< PointT >::getTop ( )

Returns the top point.

Returns: the top point.

Definition at line 313 of file person_cluster.hpp.

References top_.

◆ getTTop()

template<typename PointT>

Eigen::Vector3f & pcl::people::PersonCluster< PointT >::getTTop ( )

Returns the theoretical top point.

Returns: the theoretical top point.

Definition at line 295 of file person_cluster.hpp.

References ttop_.

◆ init()

template<typename PointT>

void pcl::people::PersonCluster< PointT >::init	(	const PointCloudPtr &	input_cloud,
		const pcl::PointIndices &	indices,
		const Eigen::VectorXf &	ground_coeffs,
		float	sqrt_ground_coeffs,
		bool	head_centroid,
		bool	vertical )

protected

PersonCluster initialization.

Definition at line 59 of file person_cluster.hpp.

References angle_, angle_max_, angle_min_, bottom_, c_x_, c_y_, c_z_, center_, distance_, head_centroid_, height_, pcl::PointIndices::indices, max_, max_x_, max_y_, max_z_, min_, min_x_, min_y_, min_z_, n_, person_confidence_, points_indices_, sum_x_, sum_y_, sum_z_, tbottom_, tcenter_, top_, ttop_, and vertical_.

Referenced by PersonCluster().

◆ setHeight()

template<typename PointT>

void pcl::people::PersonCluster< PointT >::setHeight ( float height )

Sets the cluster height.

Parameters

[in] height

Definition at line 379 of file person_cluster.hpp.

References height_.

◆ setPersonConfidence()

template<typename PointT>

void pcl::people::PersonCluster< PointT >::setPersonConfidence ( float confidence )

Sets the HOG confidence.

Parameters

[in] confidence

Definition at line 373 of file person_cluster.hpp.

References person_confidence_.

◆ updateHeight() [1/2]

template<typename PointT>

float pcl::people::PersonCluster< PointT >::updateHeight ( const Eigen::VectorXf & ground_coeffs )

Update the height of the cluster.

Parameters

[in] ground_coeffs The coefficients of the ground plane.

Returns: the height of the cluster.

Definition at line 267 of file person_cluster.hpp.

References updateHeight().

Referenced by updateHeight().

◆ updateHeight() [2/2]

template<typename PointT>

float pcl::people::PersonCluster< PointT >::updateHeight	(	const Eigen::VectorXf &	ground_coeffs,
		float	sqrt_ground_coeffs )

Update the height of the cluster.

Parameters

[in]	ground_coeffs	The coefficients of the ground plane.
[in]	sqrt_ground_coeffs	The norm of the vector [a, b, c] where a, b and c are the first three coefficients of the ground plane (ax + by + cz + d = 0).

Returns: the height of the cluster.

Definition at line 274 of file person_cluster.hpp.

References c_x_, c_y_, c_z_, height_, max_x_, min_y_, and vertical_.

◆ operator<

template<typename PointT>

bool operator<	(	const PersonCluster< PointT > &	c1,
		const PersonCluster< PointT > &	c2 )

friend

For sorting purpose: sort by distance.

References PersonCluster().

Member Data Documentation

◆ angle_

template<typename PointT>

float pcl::people::PersonCluster< PointT >::angle_

protected

Cluster centroid horizontal angle with respect to z axis.

Definition at line 101 of file person_cluster.h.

Referenced by getAngle(), and init().

◆ angle_max_

template<typename PointT>

float pcl::people::PersonCluster< PointT >::angle_max_

protected

Maximum angle of the cluster points.

Definition at line 104 of file person_cluster.h.

Referenced by getAngleMax(), and init().

◆ angle_min_

template<typename PointT>

float pcl::people::PersonCluster< PointT >::angle_min_

protected

Minimum angle of the cluster points.

Definition at line 106 of file person_cluster.h.

Referenced by getAngleMin(), and init().

◆ bottom_

template<typename PointT>

Eigen::Vector3f pcl::people::PersonCluster< PointT >::bottom_

protected

Cluster bottom point.

Definition at line 111 of file person_cluster.h.

Referenced by getBottom(), and init().

◆ c_x_

template<typename PointT>

float pcl::people::PersonCluster< PointT >::c_x_

protected

x coordinate of the cluster centroid.

Definition at line 89 of file person_cluster.h.

Referenced by init(), and updateHeight().

◆ c_y_

template<typename PointT>

float pcl::people::PersonCluster< PointT >::c_y_

protected

y coordinate of the cluster centroid.

Definition at line 91 of file person_cluster.h.

Referenced by init(), and updateHeight().

◆ c_z_

template<typename PointT>

float pcl::people::PersonCluster< PointT >::c_z_

protected

z coordinate of the cluster centroid.

Definition at line 93 of file person_cluster.h.

Referenced by init(), and updateHeight().

◆ center_

template<typename PointT>

Eigen::Vector3f pcl::people::PersonCluster< PointT >::center_

protected

Cluster centroid.

Definition at line 113 of file person_cluster.h.

Referenced by getCenter(), and init().

◆ distance_

template<typename PointT>

float pcl::people::PersonCluster< PointT >::distance_

protected

Cluster distance from the sensor.

Definition at line 99 of file person_cluster.h.

Referenced by getDistance(), and init().

◆ head_centroid_

template<typename PointT>

bool pcl::people::PersonCluster< PointT >::head_centroid_

protected

Definition at line 62 of file person_cluster.h.

Referenced by init().

◆ height_

template<typename PointT>

float pcl::people::PersonCluster< PointT >::height_

protected

Cluster height from the ground plane.

Definition at line 96 of file person_cluster.h.

Referenced by drawTBoundingBox(), getHeight(), init(), setHeight(), and updateHeight().

◆ max_

template<typename PointT>

Eigen::Vector3f pcl::people::PersonCluster< PointT >::max_

protected

Vector containing the maximum coordinates of the cluster.

Definition at line 125 of file person_cluster.h.

Referenced by getMax(), and init().

◆ max_x_

template<typename PointT>

float pcl::people::PersonCluster< PointT >::max_x_

protected

Maximum x coordinate of the cluster points.

Definition at line 72 of file person_cluster.h.

Referenced by init(), and updateHeight().

◆ max_y_

template<typename PointT>

float pcl::people::PersonCluster< PointT >::max_y_

protected

Maximum y coordinate of the cluster points.

Definition at line 74 of file person_cluster.h.

Referenced by init().

◆ max_z_

template<typename PointT>

float pcl::people::PersonCluster< PointT >::max_z_

protected

Maximum z coordinate of the cluster points.

Definition at line 76 of file person_cluster.h.

Referenced by init().

◆ min_

template<typename PointT>

Eigen::Vector3f pcl::people::PersonCluster< PointT >::min_

protected

Vector containing the minimum coordinates of the cluster.

Definition at line 123 of file person_cluster.h.

Referenced by getMin(), and init().

◆ min_x_

template<typename PointT>

float pcl::people::PersonCluster< PointT >::min_x_

protected

Minimum x coordinate of the cluster points.

Definition at line 65 of file person_cluster.h.

Referenced by init().

◆ min_y_

template<typename PointT>

float pcl::people::PersonCluster< PointT >::min_y_

protected

Minimum y coordinate of the cluster points.

Definition at line 67 of file person_cluster.h.

Referenced by init(), and updateHeight().

◆ min_z_

template<typename PointT>

float pcl::people::PersonCluster< PointT >::min_z_

protected

Minimum z coordinate of the cluster points.

Definition at line 69 of file person_cluster.h.

Referenced by init().

◆ n_

template<typename PointT>

int pcl::people::PersonCluster< PointT >::n_

protected

Number of cluster points.

Definition at line 86 of file person_cluster.h.

Referenced by getNumberPoints(), and init().

◆ person_confidence_

template<typename PointT>

float pcl::people::PersonCluster< PointT >::person_confidence_

protected

PersonCluster HOG confidence.

Definition at line 133 of file person_cluster.h.

Referenced by getPersonConfidence(), init(), and setPersonConfidence().

◆ points_indices_

template<typename PointT>

pcl::PointIndices pcl::people::PersonCluster< PointT >::points_indices_

protected

Point cloud indices of the cluster points.

Definition at line 128 of file person_cluster.h.

Referenced by getIndices(), and init().

◆ sum_x_

template<typename PointT>

float pcl::people::PersonCluster< PointT >::sum_x_

protected

Sum of x coordinates of the cluster points.

Definition at line 79 of file person_cluster.h.

Referenced by init().

◆ sum_y_

template<typename PointT>

float pcl::people::PersonCluster< PointT >::sum_y_

protected

Sum of y coordinates of the cluster points.

Definition at line 81 of file person_cluster.h.

Referenced by init().

◆ sum_z_

template<typename PointT>

float pcl::people::PersonCluster< PointT >::sum_z_

protected

Sum of z coordinates of the cluster points.

Definition at line 83 of file person_cluster.h.

Referenced by init().

◆ tbottom_

template<typename PointT>

Eigen::Vector3f pcl::people::PersonCluster< PointT >::tbottom_

protected

Theoretical cluster bottom (lying on the ground plane).

Definition at line 118 of file person_cluster.h.

Referenced by getTBottom(), and init().

◆ tcenter_

template<typename PointT>

Eigen::Vector3f pcl::people::PersonCluster< PointT >::tcenter_

protected

Theoretical cluster center (between ttop_ and tbottom_).

Definition at line 120 of file person_cluster.h.

Referenced by drawTBoundingBox(), getTCenter(), and init().

◆ top_

template<typename PointT>

Eigen::Vector3f pcl::people::PersonCluster< PointT >::top_

protected

Cluster top point.

Definition at line 109 of file person_cluster.h.

Referenced by getTop(), and init().

◆ ttop_

template<typename PointT>

Eigen::Vector3f pcl::people::PersonCluster< PointT >::ttop_

protected

Theoretical cluster top.

Definition at line 116 of file person_cluster.h.

Referenced by getTTop(), and init().

◆ vertical_

template<typename PointT>

bool pcl::people::PersonCluster< PointT >::vertical_

protected

If true, the sensor is considered to be vertically placed (portrait mode).

Definition at line 131 of file person_cluster.h.

Referenced by drawTBoundingBox(), init(), and updateHeight().

The documentation for this class was generated from the following files:

pcl/people/person_cluster.h
pcl/people/impl/person_cluster.hpp

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Detailed Description

Member Typedef Documentation

◆ PointCloud

◆ PointCloudConstPtr

◆ PointCloudPtr

Constructor & Destructor Documentation

◆ PersonCluster()

◆ ~PersonCluster()

Member Function Documentation

◆ drawTBoundingBox()

◆ getAngle()

◆ getAngleMax()

◆ getAngleMin()

◆ getBottom()

◆ getCenter()

◆ getDistance()

◆ getHeight()

◆ getIndices()

◆ getMax()

◆ getMin()

◆ getNumberPoints()

◆ getPersonConfidence()

◆ getTBottom()

◆ getTCenter()

◆ getTop()

◆ getTTop()

◆ init()

◆ setHeight()

◆ setPersonConfidence()

◆ updateHeight() [1/2]

◆ updateHeight() [2/2]

Friends And Related Symbol Documentation

◆ operator<

Member Data Documentation

◆ angle_

◆ angle_max_

◆ angle_min_

◆ bottom_

◆ c_x_

◆ c_y_

◆ c_z_

◆ center_

◆ distance_

◆ head_centroid_

◆ height_

◆ max_

◆ max_x_

◆ max_y_

◆ max_z_

◆ min_

◆ min_x_

◆ min_y_

◆ min_z_

◆ n_

◆ person_confidence_

◆ points_indices_

◆ sum_x_

◆ sum_y_

◆ sum_z_

◆ tbottom_

◆ tcenter_

◆ top_

◆ ttop_

◆ vertical_