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Add: set transformation for people tracker #606

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merged 8 commits into from
May 24, 2014
Merged

Add: set transformation for people tracker #606

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5686d82
Fix some whitespace issues
moritzblume Mar 31, 2014
22b5a72
Use flags to check whether member variables have been set
moritzblume Mar 31, 2014
ba2f4ca
Fix wrong update of min_points_ and max_points_
moritzblume Mar 31, 2014
ce26e6d
Move point cloud filtering in own method and make it accessible
moritzblume Mar 31, 2014
7ce8eda
Allow to set the field of view of the point cloud
moritzblume Mar 31, 2014
8593df2
Add transformations for the point cloud/ground plane/intrinsics matrix
moritzblume Mar 31, 2014
54db151
Replace hard-coded value by constant
moritzblume Mar 31, 2014
501dcc2
Increase distance for ground removal
moritzblume Mar 31, 2014
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4 changes: 3 additions & 1 deletion people/apps/main_ground_based_people_detection.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -118,6 +118,8 @@ int main (int argc, char** argv)
// Algorithm parameters:
std::string svm_filename = "../../people/data/trainedLinearSVMForPeopleDetectionWithHOG.yaml";
float min_confidence = -1.5;
float min_width = 0.1;
float max_width = 8.0;
float min_height = 1.3;
float max_height = 2.3;
float voxel_size = 0.06;
Expand Down Expand Up @@ -190,7 +192,7 @@ int main (int argc, char** argv)
people_detector.setVoxelSize(voxel_size); // set the voxel size
people_detector.setIntrinsics(rgb_intrinsics_matrix); // set RGB camera intrinsic parameters
people_detector.setClassifier(person_classifier); // set person classifier
people_detector.setHeightLimits(min_height, max_height); // set person classifier
people_detector.setPersonClusterLimits(min_height, max_height, min_width, max_width);
people_detector.setSamplingFactor(sampling_factor); // set a downsampling factor to the point cloud (for increasing speed)
// people_detector.setSensorPortraitOrientation(true); // set sensor orientation to vertical

Expand Down
131 changes: 105 additions & 26 deletions people/include/pcl/people/ground_based_people_detection_app.h
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Original file line number Diff line number Diff line change
Expand Up @@ -51,6 +51,7 @@
#include <pcl/people/person_cluster.h>
#include <pcl/people/head_based_subcluster.h>
#include <pcl/people/person_classifier.h>
#include <pcl/common/transforms.h>

namespace pcl
{
Expand Down Expand Up @@ -98,6 +99,14 @@ namespace pcl
void
setGround (Eigen::VectorXf& ground_coeffs);

/**
* \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.
*
* \param[in] cloud A pointer to the input cloud.
*/
void
setTransformation (const Eigen::Matrix3f& transformation);

/**
* \brief Set sampling factor.
*
Expand Down Expand Up @@ -130,6 +139,15 @@ namespace pcl
void
setClassifier (pcl::people::PersonClassifier<pcl::RGB> person_classifier);

/**
* \brief Set the field of view of the point cloud in z direction.
*
* \param[in] min The beginning of the field of view in z-direction, should be usually set to zero.
* \param[in] max The end of the field of view in z-direction.
*/
void
setFOV (float min, float max);

/**
* \brief Set sensor orientation (vertical = true means portrait mode, vertical = false means landscape mode).
*
Expand All @@ -147,22 +165,15 @@ namespace pcl
setHeadCentroid (bool head_centroid);

/**
* \brief Set minimum and maximum allowed height for a person cluster.
* \brief Set minimum and maximum allowed height and width for a person cluster.
*
* \param[in] min_height Minimum allowed height for a person cluster (default = 1.3).
* \param[in] max_height Maximum allowed height for a person cluster (default = 2.3).
* \param[in] min_width Minimum width for a person cluster (default = 0.1).
* \param[in] max_width Maximum width for a person cluster (default = 8.0).
*/
void
setHeightLimits (float min_height, float max_height);

/**
* \brief Set minimum and maximum allowed number of points for a person cluster.
*
* \param[in] min_points Minimum allowed number of points for a person cluster.
* \param[in] max_points Maximum allowed number of points for a person cluster.
*/
void
setDimensionLimits (int min_points, int max_points);
setPersonClusterLimits (float min_height, float max_height, float min_width, float max_width);

/**
* \brief Set minimum distance between persons' heads.
Expand All @@ -173,13 +184,15 @@ namespace pcl
setMinimumDistanceBetweenHeads (float heads_minimum_distance);

/**
* \brief Get minimum and maximum allowed height for a person cluster.
* \brief Get the minimum and maximum allowed height and width for a person cluster.
*
* \param[out] min_height Minimum allowed height for a person cluster.
* \param[out] max_height Maximum allowed height for a person cluster.
* \param[out] min_width Minimum width for a person cluster.
* \param[out] max_width Maximum width for a person cluster.
*/
void
getHeightLimits (float& min_height, float& max_height);
getPersonClusterLimits (float& min_height, float& max_height, float& min_width, float& max_width);

/**
* \brief Get minimum and maximum allowed number of points for a person cluster.
Expand All @@ -202,6 +215,12 @@ namespace pcl
Eigen::VectorXf
getGround ();

/**
* \brief Get the filtered point cloud.
*/
PointCloudPtr
getFilteredCloud ();

/**
* \brief Get pointcloud after voxel grid filtering and ground removal.
*/
Expand All @@ -225,6 +244,36 @@ namespace pcl
void
swapDimensions (pcl::PointCloud<pcl::RGB>::Ptr& cloud);

/**
* \brief Estimates min_points_ and max_points_ based on the minimal and maximal cluster size and the voxel size.
*/
void
updateMinMaxPoints ();

/**
* \brief Applies the transformation to the input point cloud.
*/
void
applyTransformationPointCloud ();

/**
* \brief Applies the transformation to the ground plane.
*/
void
applyTransformationGround ();

/**
* \brief Applies the transformation to the intrinsics matrix.
*/
void
applyTransformationIntrinsics ();

/**
* \brief Reduces the input cloud to one point per voxel and limits the field of view.
*/
void
filter ();

/**
* \brief Perform people detection on the input data and return people clusters information.
*
Expand All @@ -243,13 +292,28 @@ namespace pcl
float voxel_size_;

/** \brief ground plane coefficients */
Eigen::VectorXf ground_coeffs_;

Eigen::VectorXf ground_coeffs_;

/** \brief flag stating whether the ground coefficients have been set or not */
bool ground_coeffs_set_;

/** \brief the transformed ground coefficients */
Eigen::VectorXf ground_coeffs_transformed_;

/** \brief ground plane normalization factor */
float sqrt_ground_coeffs_;

float sqrt_ground_coeffs_;

/** \brief rotation matrix which transforms input point cloud to internal people tracker coordinate frame */
Eigen::Matrix3f transformation_;

/** \brief flag stating whether the transformation matrix has been set or not */
bool transformation_set_;

/** \brief pointer to the input cloud */
PointCloudPtr cloud_;
PointCloudPtr cloud_;

/** \brief pointer to the filtered cloud */
PointCloudPtr cloud_filtered_;

/** \brief pointer to the cloud after voxel grid filtering and ground removal */
PointCloudPtr no_ground_cloud_;
Expand All @@ -261,8 +325,20 @@ namespace pcl
float max_height_;

/** \brief person clusters minimum height from the ground plane */
float min_height_;

float min_height_;

/** \brief person clusters maximum width, used to estimate how many points maximally represent a person cluster */
float max_width_;

/** \brief person clusters minimum width, used to estimate how many points minimally represent a person cluster */
float min_width_;

/** \brief the beginning of the field of view in z-direction, should be usually set to zero */
float min_fov_;

/** \brief the end of the field of view in z-direction */
float max_fov_;

/** \brief if true, the sensor is considered to be vertically placed (portrait mode) */
bool vertical_;

Expand All @@ -276,20 +352,23 @@ namespace pcl
/** \brief minimum number of points for a person cluster */
int min_points_;

/** \brief true if min_points and max_points have been set by the user, false otherwise */
bool dimension_limits_set_;

/** \brief minimum distance between persons' heads */
float heads_minimum_distance_;

/** \brief intrinsic parameters matrix of the RGB camera */
Eigen::Matrix3f intrinsics_matrix_;

Eigen::Matrix3f intrinsics_matrix_;

/** \brief flag stating whether the intrinsics matrix has been set or not */
bool intrinsics_matrix_set_;

/** \brief the transformed intrinsics matrix */
Eigen::Matrix3f intrinsics_matrix_transformed_;

/** \brief SVM-based person classifier */
pcl::people::PersonClassifier<pcl::RGB> person_classifier_;

/** \brief flag stating if the classifier has been set or not */
bool person_classifier_set_flag_;
bool person_classifier_set_flag_;
};
} /* namespace people */
} /* namespace pcl */
Expand Down
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