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>;
91 setIntrinsics (
float fx,
float fy,
float cx = -1,
float cy = -1);
101 process (
const Depth& depth,
const Image& rgba);
107 delta_hue_tolerance_ = delta_hue_tolerance;
114 return (delta_hue_tolerance_);
118 inline const std::string
getClassName ()
const {
return "PeopleDetector"; }
157 allocate_buffers (
int rows = 480,
int cols = 640);
163 friend class PeoplePCDApp;
shared_ptr< PersonAttribs > Ptr
shared_ptr< FaceDetector > Ptr
void setDeltaHueTolerance(unsigned int delta_hue_tolerance)
Set the tolerance for the delta on the Hue in Seeded Hue Segmentation step.
shared_ptr< ProbabilityProcessor > Ptr
bool first_iteration_
indicates first time callback (allows for tracking features to start from second frame) ...
ProbabilityProcessor::Ptr probability_processor_
PointCloud< unsigned short > depth_host_
shared_ptr< OrganizedPlaneDetector > Ptr
PointCloud< PointTC > cloud_host_color_
const std::string getClassName() const
Class getName method.
DeviceArray< unsigned char > kernelRect5x5_
shared_ptr< PeopleDetector > Ptr
A point structure representing Euclidean xyz coordinates, and the RGBA color.
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_
PointCloud< unsigned char > flowermat_host_
Defines all the PCL implemented PointT point type structures.
A point structure representing Euclidean xyz coordinates.
PointCloud represents the base class in PCL for storing collections of 3D points. ...
~PeopleDetector()
Class destructor.
OrganizedPlaneDetector::Ptr org_plane_detector_
shared_ptr< const PointCloud< PointT > > ConstPtr
PointCloud< PointT > cloud_host_
RDFBodyPartsDetector::Ptr rdf_detector_
FaceDetector::Ptr face_detector_
PointCloud< float > hue_host_
shared_ptr< const PeopleDetector > ConstPtr
shared_ptr< RDFBodyPartsDetector > Ptr