#include <uresobj3d.h>

Public Member Functions
int	addEquvivalent (int *mee, int meeCnt)

void	clear ()

int	countNonZeroVoxels ()

int	filter (int minCellCnt, double maxDX, double maxDY, double maxZ, double minZ, double minX, double roofHgt, double minDens, int minDensCnt)

UGridBBoxes *	getBoxes ()

UPosition	getCellCenter (int ix, int iy, int iz, double *size)

UPosition	getCellFTL (int ix, int iy, int iz, double *size)

UPosition	getCellNBR (int ix, int iy, int iz, double *size)

UImg3Dpoint **	getVoxelPnt (int vx, int vy, int vz)

void	logBB (ULogFile *lf, bool validOnly)

int	mergeOverlappingBBs ()

void	paintVoxels (UImage *img, int minQValue, bool andBBoxes, int minCellCnt)

bool	setVolumen (double cellSize, double depth, double width, double height)

void	setVoxel (UPlane plane, UImg3Dpoint pnt)

	UGrid3D ()

int	voxelSegmentation (double minZ, UImage *maskImg, double maskSideMult)

	~UGrid3D ()

Protected Attributes
UGridBBoxes *	boxes

UGridSegs *	segc

UImg3Dpoint **	voxels

int	voxelsCnt

double	voxelSize

int	xDepth

int	yWidth

int	zHeight

Detailed Description

a 3D voxel grid for 3D-blob estimation

Constructor & Destructor Documentation

UGrid3D::UGrid3D ( )

constructor

UGrid3D::~UGrid3D ( )

Destructor

Member Function Documentation

int UGrid3D::addEquvivalent	(	int *	mee,
		int	meeCnt
	)

Resolve the equvivalent numbers in this array, and assign a cluster number to this voxel in return. The equvivalens tabel should be updated.

void UGrid3D::clear ( void )

Clear all voxels

int UGrid3D::countNonZeroVoxels ( )

Count voxels with non-zero content

Returns: count of voxels that is not NULL

int UGrid3D::filter	(	int	minCellCnt,
		double	maxDX,
		double	maxDY,
		double	maxZ,
		double	minZ,
		double	minX,
		double	roofHgt,
		double	minDens,
		int	minDensCnt
	)

Filter the found bounding boxes after size

Parameters

minCellCnt	minimum filled cells inside box
maxDX	the maximum size of the human in z-direction - must be large due to stereo uncertanty
maxDY	the maximum size of the human across the camera view
maxZ	the maximum height of a human
minZ	the smallest obstacle classified as a human
minX	is the closest a human should be detected from the camera (false correlation remover)
roogHgt	is the minimum height of the bottom of obstacles to be considered an obstacle, else it is assumed to be a part ot the roof or tree tops etc.
minDens	is the mean density of voxels per square meter
minDensCnt	minimum density is to be applied for boxes with up to this number of cells

Returns: number of humans detected in view

References roundi().

UGridBBoxes* UGrid3D::getBoxes ( )

inline

Get bounding boxes

UPosition UGrid3D::getCellCenter	(	int	ix,
		int	iy,
		int	iz,
		double *	size
	)

Get the position of the center of this cell (and the cell size)

Parameters

ix,iy,iz	is the index to the cell, all index are zero or positive
size	is the size of the actual cell

Returns: the center position in meters

References UPosition::x, UPosition::y, and UPosition::z.

UPosition UGrid3D::getCellFTL	(	int	ix,
		int	iy,
		int	iz,
		double *	size
	)

Get the position of the Far Top Left of this cell (and the cell size)

Parameters

ix,iy,iz	is the index to the cell, all index are zero or positive
size	is the size of the actual cell

Returns: the center position in meters

References UPosition::x, UPosition::y, and UPosition::z.

UPosition UGrid3D::getCellNBR	(	int	ix,
		int	iy,
		int	iz,
		double *	size
	)

Get the position of the Near Bottom Right of this cell (and the cell size)

Parameters

ix,iy,iz	is the index to the cell, all index are zero or positive
size	is the size of the actual cell

Returns: the center position in meters

References UPosition::x, UPosition::y, and UPosition::z.

UImg3Dpoint ** UGrid3D::getVoxelPnt	(	int	vx,
		int	vy,
		int	vz
	)

Get pointer to voxel cell (a pointer cell is a pointer too)

Parameters

vx	voxel number in depth direction
vy	is voxel number left or right - left is positive
vz	is voxel in the height direction.

Returns: a pointer to the cell, if within voxel volumen.

void UGrid3D::logBB	(	ULogFile *	lf,
		bool	validOnly
	)

log bounding boxes to this logfile

Parameters

lf	is a pointer to the logfile object
validOnly	log valid bounding boxes only (from filter process)

References bool2str(), UGridBBox::maxx, UGridBBox::maxy, UGridBBox::maxz, UGridBBox::minx, UGridBBox::miny, UGridBBox::minz, UGridBBox::valid, UPosition::x, UPosition::y, and UPosition::z.

int UGrid3D::mergeOverlappingBBs ( )

Merge bounding boxes that has an overlap. The search for overlap is done once only, so there could be untested overlap of merged boxes.

References roundi().

void UGrid3D::paintVoxels	(	UImage *	img,
		int	minQValue,
		bool	andBBoxes,
		int	minCellCnt
	)

Paint all vixels in top and side view Paint a grid and the selected cells.

Parameters

img	is the image to paint into
minQValue	paint only thise cells that has at least this q-value
andBBoxes	paint also bounding boxes
minCellCnt	paint only bounding boxes with at least this number of valid cells

References UImg3Dpoint::blue(), UImage::cvArr(), UGridBBox::filtered, UGridBBox::footprint, UGridBBox::getDensity(), UPolygon::getPoints(), UPolygon::getPointsCnt(), UImg3Dpoint::green(), UGridBBox::hitCnt, UGridBBox::human, UGridBBox::maxx, UGridBBox::maxy, UGridBBox::maxz, UGridBBox::minx, UGridBBox::miny, UGridBBox::minz, UImage::paintGridAligned(), UImg3Dpoint::q, UImg3Dpoint::red(), UGridBBox::roof, roundi(), UGridBBox::valid, UImage::width(), UPosition::x, UPosition::y, and UPosition::z.

bool UGrid3D::setVolumen	(	double	cellSize,
		double	depth,
		double	width,
		double	height
	)

Set volumen with empty voxels.

Parameters

cellSize	side size in meters - e.g 0.1 m.
depth	x-size of volumen in meters - 0.0 is camera
width	y-size of volumen in meters - 0.0 at centre.
height	z-size in meters - lower limit is 0.0

Returns: true if memory is allocated (or reallocated)

References UGridSegEq::clear(), and roundi().

void UGrid3D::setVoxel	(	UPlane *	plane,
		UImg3Dpoint *	pnt
	)

Set voxel at this point to point to this image point.

Parameters

plane	is the ground plane, uset to calculate z-distance (height)
pnt	the image point to place.

References UPlane::distSigned(), UImg3Dpoint::pos, UImg3Dpoint::q, roundi(), UPosition::x, and UPosition::y.

int UGrid3D::voxelSegmentation	(	double	minZ,
		UImage *	maskImg,
		double	maskSideMult
	)

Segment the voxel volument in an 8 connectivity test

Parameters

minZ	is the minimum z that should be segmentated
maskImg	is a bW image in same dimension as voxel planes if masked, then voxel is not used for segmentation.
maskSideMult	is multiplier from voxel x,y to mask r,c

Returns: number of cluster segments

References UGridBBox::addCell(), UImage::getUCharRef(), UImg3Dpoint::q, and roundi().

Member Data Documentation

UGridBBoxes* UGrid3D::boxes

protected

Bounding box list

UGridSegs* UGrid3D::segc

protected

segmentation collisions

UImg3Dpoint** UGrid3D::voxels

protected

Pointer to data area

int UGrid3D::voxelsCnt

protected

Data area size (in pointers)

double UGrid3D::voxelSize

protected

Side length of voxel in meters.

int UGrid3D::xDepth

protected

depth (x direction) of volumen in voxels

int UGrid3D::yWidth

protected

width (y-direction) of volumen in voxels

int UGrid3D::zHeight

protected

height (z-direction) of volumen in voxels

The documentation for this class was generated from the following files:

Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation