37 #ifndef PCL_GPU_PEOPLE_PERSON_H_ 38 #define PCL_GPU_PEOPLE_PERSON_H_ 45 #include <pcl/console/print.h> 46 #include <pcl/gpu/containers/device_array.h> 47 #include <pcl/gpu/people/label_common.h> 48 #include <pcl/gpu/people/tree.h> 49 #include <pcl/gpu/people/person_attribs.h> 52 #include <pcl/gpu/people/bodyparts_detector.h> 53 #include <pcl/gpu/people/face_detector.h> 54 #include <pcl/gpu/people/organized_plane_detector.h> 55 #include <pcl/gpu/people/probability_processor.h> 72 typedef boost::shared_ptr<PeopleDetector>
Ptr;
97 setIntrinsics (
float fx,
float fy,
float cx = -1,
float cy = -1);
107 process (
const Depth& depth,
const Image& rgba);
113 delta_hue_tolerance_ = delta_hue_tolerance;
120 return (delta_hue_tolerance_);
124 inline const std::string
getClassName ()
const {
return "PeopleDetector"; }
163 allocate_buffers (
int rows = 480,
int cols = 640);
169 friend class PeoplePCDApp;
174 #endif // PCL_GPU_PEOPLE_PERSON_H_
void setDeltaHueTolerance(unsigned int delta_hue_tolerance)
Set the tolerance for the delta on the Hue in Seeded Hue Segmentation step.
bool first_iteration_
indicates first time callback (allows for tracking features to start from second frame) ...
DeviceArray2D< unsigned char > Labels
ProbabilityProcessor::Ptr probability_processor_
PointCloud< unsigned short > depth_host_
This file defines compatibility wrappers for low level I/O functions.
PointCloud< PointTC > cloud_host_color_
DeviceArray2D< pcl::RGB > Image
const std::string getClassName() const
Class getName method.
DeviceArray< unsigned char > kernelRect5x5_
DeviceArray2D< unsigned char > Mask
pcl::PointXYZRGBA PointTC
boost::shared_ptr< FaceDetector > 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...
boost::shared_ptr< RDFBodyPartsDetector > Ptr
DeviceArray2D< PointT > cloud_device_
PersonAttribs::Ptr person_attribs_
unsigned int delta_hue_tolerance_
DeviceArray2D< float > Hue
PointCloud< unsigned char > flowermat_host_
Defines all the PCL implemented PointT point type structures.
A point structure representing Euclidean xyz coordinates.
boost::shared_ptr< const PointCloud< PointT > > ConstPtr
boost::shared_ptr< PeopleDetector > Ptr
PointCloud represents the base class in PCL for storing collections of 3D points. ...
~PeopleDetector()
Class destructor.
OrganizedPlaneDetector::Ptr org_plane_detector_
PointCloud< PointT > cloud_host_
RDFBodyPartsDetector::Ptr rdf_detector_
boost::shared_ptr< PersonAttribs > Ptr
DeviceArray2D< unsigned short > Depth
boost::shared_ptr< OrganizedPlaneDetector > Ptr
boost::shared_ptr< ProbabilityProcessor > Ptr
FaceDetector::Ptr face_detector_
PointCloud< float > hue_host_