166 lines
6.3 KiB
C
166 lines
6.3 KiB
C
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/*
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* Software License Agreement (BSD License)
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*
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* Point Cloud Library (PCL) - www.pointclouds.org
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* Copyright (c) 2013-, Open Perception, Inc.
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*
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of the copyright holder(s) nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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* person_classifier.h
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* Created on: Nov 30, 2012
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* Author: Matteo Munaro
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*/
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#pragma once
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#include <pcl/people/person_cluster.h>
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#include <pcl/people/hog.h>
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namespace pcl
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{
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namespace people
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{
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template <typename PointT> class PersonClassifier;
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template <typename PointT>
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class PersonClassifier
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{
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protected:
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/** \brief Height of the image patch to classify. */
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int window_height_;
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/** \brief Width of the image patch to classify. */
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int window_width_;
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/** \brief SVM offset. */
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float SVM_offset_;
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/** \brief SVM weights vector. */
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std::vector<float> SVM_weights_;
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public:
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using PointCloud = pcl::PointCloud<PointT>;
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using PointCloudPtr = typename PointCloud::Ptr;
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/** \brief Constructor. */
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PersonClassifier ();
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/** \brief Destructor. */
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virtual ~PersonClassifier ();
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/** \brief Load SVM parameters from a text file.
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*
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* \param[in] svm_filename Filename containing SVM parameters.
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*
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* \return true if SVM has been correctly set, false otherwise.
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*/
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bool
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loadSVMFromFile (std::string svm_filename);
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/**
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* \brief Set trained SVM for person confidence estimation.
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*
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* \param[in] window_height Detection window height.
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* \param[in] window_width Detection window width.
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* \param[in] SVM_weights SVM weights vector.
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* \param[in] SVM_offset SVM offset.
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*/
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void
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setSVM (int window_height, int window_width, std::vector<float> SVM_weights, float SVM_offset);
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/**
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* \brief Get trained SVM for person confidence estimation.
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*
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* \param[out] window_height Detection window height.
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* \param[out] window_width Detection window width.
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* \param[out] SVM_weights SVM weights vector.
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* \param[out] SVM_offset SVM offset.
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*/
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void
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getSVM (int& window_height, int& window_width, std::vector<float>& SVM_weights, float& SVM_offset);
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/**
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* \brief Resize an image represented by a pointcloud containing RGB information.
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*
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* \param[in] input_image A pointer to a pointcloud containing RGB information.
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* \param[out] output_image A pointer to the output pointcloud.
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* \param[in] width Output width.
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* \param[in] height Output height.
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*/
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void
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resize (PointCloudPtr& input_image, PointCloudPtr& output_image,
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int width, int height);
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/**
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* \brief Copies an image and makes a black border around it, where the source image is not present.
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*
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* \param[in] input_image A pointer to a pointcloud containing RGB information.
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* \param[out] output_image A pointer to the output pointcloud.
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* \param[in] xmin x coordinate of the top-left point of the bbox to copy from the input image.
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* \param[in] ymin y coordinate of the top-left point of the bbox to copy from the input image.
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* \param[in] width Output width.
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* \param[in] height Output height.
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*/
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void
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copyMakeBorder (PointCloudPtr& input_image, PointCloudPtr& output_image,
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int xmin, int ymin, int width, int height);
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/**
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* \brief Classify the given portion of image.
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*
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* \param[in] height The height of the image patch to classify, in pixels.
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* \param[in] xc The x-coordinate of the center of the image patch to classify, in pixels.
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* \param[in] yc The y-coordinate of the center of the image patch to classify, in pixels.
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* \param[in] image The whole image (pointer to a point cloud containing RGB information) containing the object to classify.
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* \return The classification score given by the SVM.
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*/
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double
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evaluate (float height, float xc, float yc, PointCloudPtr& image);
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/**
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* \brief Compute person confidence for a given PersonCluster.
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*
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* \param[in] image The input image (pointer to a point cloud containing RGB information).
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* \param[in] bottom Theoretical bottom point of the cluster projected to the image.
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* \param[in] top Theoretical top point of the cluster projected to the image.
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* \param[in] centroid Theoretical centroid point of the cluster projected to the image.
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* \param[in] vertical If true, the sensor is considered to be vertically placed (portrait mode).
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* \return The person confidence.
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*/
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double
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evaluate (PointCloudPtr& image, Eigen::Vector3f& bottom, Eigen::Vector3f& top, Eigen::Vector3f& centroid,
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bool vertical);
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};
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} /* namespace people */
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} /* namespace pcl */
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#include <pcl/people/impl/person_classifier.hpp>
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