Point Cloud Library (PCL)
1.7.0
|
00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Point Cloud Library (PCL) - www.pointclouds.org 00005 * Copyright (c) 2013-, Open Perception, Inc. 00006 * 00007 * All rights reserved. 00008 * 00009 * Redistribution and use in source and binary forms, with or without 00010 * modification, are permitted provided that the following conditions 00011 * are met: 00012 * 00013 * * Redistributions of source code must retain the above copyright 00014 * notice, this list of conditions and the following disclaimer. 00015 * * Redistributions in binary form must reproduce the above 00016 * copyright notice, this list of conditions and the following 00017 * disclaimer in the documentation and/or other materials provided 00018 * with the distribution. 00019 * * Neither the name of the copyright holder(s) nor the names of its 00020 * contributors may be used to endorse or promote products derived 00021 * from this software without specific prior written permission. 00022 * 00023 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00024 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00025 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00026 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00027 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00028 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00029 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00030 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00031 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00032 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00033 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00034 * POSSIBILITY OF SUCH DAMAGE. 00035 * 00036 * height_map_2d.h 00037 * Created on: Nov 30, 2012 00038 * Author: Matteo Munaro 00039 */ 00040 00041 #ifndef PCL_PEOPLE_HEIGHT_MAP_2D_H_ 00042 #define PCL_PEOPLE_HEIGHT_MAP_2D_H_ 00043 00044 #include <pcl/people/person_cluster.h> 00045 #include <pcl/point_types.h> 00046 00047 namespace pcl 00048 { 00049 namespace people 00050 { 00051 /** \brief @b HeightMap2D represents a class for creating a 2D height map from a point cloud and searching for its local maxima 00052 * \author Matteo Munaro 00053 * \ingroup people 00054 */ 00055 template <typename PointT> class HeightMap2D; 00056 00057 template <typename PointT> 00058 class HeightMap2D 00059 { 00060 public: 00061 00062 typedef pcl::PointCloud<PointT> PointCloud; 00063 typedef boost::shared_ptr<PointCloud> PointCloudPtr; 00064 typedef boost::shared_ptr<const PointCloud> PointCloudConstPtr; 00065 00066 /** \brief Constructor. */ 00067 HeightMap2D(); 00068 00069 /** \brief Destructor. */ 00070 virtual ~HeightMap2D (); 00071 00072 /** 00073 * \brief Compute the height map with the projection of cluster points onto the ground plane. 00074 * 00075 * \param[in] cluster The PersonCluster used to compute the height map. 00076 */ 00077 void 00078 compute (pcl::people::PersonCluster<PointT>& cluster); 00079 00080 /** 00081 * \brief Compute local maxima of the height map. 00082 */ 00083 void 00084 searchLocalMaxima (); 00085 00086 /** 00087 * \brief Filter maxima of the height map by imposing a minimum distance between them. 00088 */ 00089 void 00090 filterMaxima (); 00091 00092 /** 00093 * \brief Set initial cluster indices. 00094 * 00095 * \param[in] cloud A pointer to the input cloud. 00096 */ 00097 void 00098 setInputCloud (PointCloudPtr& cloud); 00099 00100 /** 00101 * \brief Set the ground coefficients. 00102 * 00103 * \param[in] ground_coeffs The ground plane coefficients. 00104 */ 00105 void 00106 setGround (Eigen::VectorXf& ground_coeffs); 00107 00108 /** 00109 * \brief Set bin size for the height map. 00110 * 00111 * \param[in] bin_size Bin size for the height map (default = 0.06). 00112 */ 00113 void 00114 setBinSize (float bin_size); 00115 00116 /** 00117 * \brief Set minimum distance between maxima. 00118 * 00119 * \param[in] minimum_distance_between_maxima Minimum allowed distance between maxima (default = 0.3). 00120 */ 00121 void 00122 setMinimumDistanceBetweenMaxima (float minimum_distance_between_maxima); 00123 00124 /** 00125 * \brief Set sensor orientation to landscape mode (false) or portrait mode (true). 00126 * 00127 * \param[in] vertical Landscape (false) or portrait (true) mode (default = false). 00128 */ 00129 void 00130 setSensorPortraitOrientation (bool vertical); 00131 00132 /** 00133 * \brief Get the height map as a vector of int. 00134 */ 00135 std::vector<int>& 00136 getHeightMap (); 00137 00138 /** 00139 * \brief Get bin size for the height map. 00140 */ 00141 float 00142 getBinSize (); 00143 00144 /** 00145 * \brief Get minimum distance between maxima of the height map. 00146 */ 00147 float 00148 getMinimumDistanceBetweenMaxima (); 00149 00150 /** 00151 * \brief Return the maxima number after the filterMaxima method. 00152 */ 00153 int& 00154 getMaximaNumberAfterFiltering (); 00155 00156 /** 00157 * \brief Return the point cloud indices corresponding to the maxima computed after the filterMaxima method. 00158 */ 00159 std::vector<int>& 00160 getMaximaCloudIndicesFiltered (); 00161 00162 protected: 00163 /** \brief ground plane coefficients */ 00164 Eigen::VectorXf ground_coeffs_; 00165 00166 /** \brief ground plane normalization factor */ 00167 float sqrt_ground_coeffs_; 00168 00169 /** \brief pointer to the input cloud */ 00170 PointCloudPtr cloud_; 00171 00172 /** \brief if true, the sensor is considered to be vertically placed (portrait mode) */ 00173 bool vertical_; 00174 00175 /** \brief vector with maximum height values for every bin (height map) */ 00176 std::vector<int> buckets_; 00177 00178 /** \brief indices of the pointcloud points with maximum height for every bin */ 00179 std::vector<int> buckets_cloud_indices_; 00180 00181 /** \brief bin dimension */ 00182 float bin_size_; 00183 00184 /** \brief number of local maxima in the height map */ 00185 int maxima_number_; 00186 00187 /** \brief contains the position of the maxima in the buckets vector */ 00188 std::vector<int> maxima_indices_; 00189 00190 /** \brief contains the point cloud position of the maxima (indices of the point cloud) */ 00191 std::vector<int> maxima_cloud_indices_; 00192 00193 /** \brief number of local maxima after filtering */ 00194 int maxima_number_after_filtering_; 00195 00196 /** \brief contains the position of the maxima in the buckets array after filtering */ 00197 std::vector<int> maxima_indices_filtered_; 00198 00199 /** \brief contains the point cloud position of the maxima after filtering */ 00200 std::vector<int> maxima_cloud_indices_filtered_; 00201 00202 /** \brief minimum allowed distance between maxima */ 00203 float min_dist_between_maxima_; 00204 }; 00205 00206 } /* namespace people */ 00207 } /* namespace pcl */ 00208 #include <pcl/people/impl/height_map_2d.hpp> 00209 #endif /* PCL_PEOPLE_HEIGHT_MAP_2D_H_ */