#include <ufunctracking.h>

Inheritance diagram for UFuncTracking:

Public Member Functions
virtual bool	handleCommand (UServerInMsg msg, void extra)

	UFuncTracking ()

virtual	~UFuncTracking ()

Public Member Functions inherited from UFunctionCamBase
virtual void	createResources ()

UImage *	getImage (UServerInMsg msg, void extra)

virtual bool	setResource (UResBase *ressource, bool remove)

	UFunctionCamBase ()

virtual	~UFunctionCamBase ()

Public Member Functions inherited from UFunctionImgBase
virtual void	setCmdHandler (UCmdExe *cmdExe)

void	showImagesAsDefault (bool show)

	UFunctionImgBase ()

virtual	~UFunctionImgBase ()

Public Member Functions inherited from UFunctionBase
bool	addResource (UResBase resource, UFunctionBase owner)

void	closeLogfile ()

virtual const char *	commandList ()

const char *	getAliasName ()

const char *	getLoadedFileName ()

void *	getLoadedModuleRef ()

virtual bool	gotAllResources (char *missingThese, int missingTheseCnt)

bool	isMine (const char *cmdName)

bool	isStatic ()
	is the module loaded as static A module is static if the ldFilename has a length of zero. More...

virtual const char *	name ()

bool	newCmd (UServerInMsg newMsg, UDataBase extra)

bool	newCommand (UServerInMsg newMsg, void extra)

bool	openLogfile (const char *name)

void	print (const char *preString)

virtual void	resourceUpdated ()

bool	sendEndTag (UServerInMsg *msg)

bool	sendEndTag ()

bool	sendFullTag (const char *attributes)

bool	sendHelpDone (UServerInMsg *msg)

bool	sendHelpDone ()

bool	sendHelpStart (UServerInMsg msg, const char subject)

bool	sendHelpStart (const char *subject)

bool	sendHelpStart ()

bool	sendMsg (UServerInMsg msg, const char message, int size)

bool	sendMsg (const char *message)

bool	sendMsg (UServerInMsg msg, const char message)

bool	sendMsg (int clientIdx, const char *message, int size)

bool	sendMsgInt (int clientIdx, const char *message)

bool	sendStartTag (const char *attributes)

bool	sendText (UServerInMsg msg, const char text)

bool	sendText (const char *text)

virtual void	setAliasName (const char *name)

virtual void	setCommand (const char cmdList, const char name, const char *note)

void	setLoadedModuleRef (void module, const char moduleFileName)

virtual void	setLoadTime (UTime)

void	setName (const char *name)

void	setVerbose (bool value)

	UFunctionBase ()

virtual	~UFunctionBase ()

Public Member Functions inherited from UCallBack
bool	addOnEvent (UOnEvent *dataObject)

virtual bool	onEvent (const char interface, const char dataType, void *data)

	UCallBack ()

virtual	~UCallBack ()

Public Member Functions inherited from UResVarPool
int	addMethod (const char formalName, const char paramTypes, const char *comment)

int	addMethodV (const char formalName, const char paramTypes, const char *comment)

UVarPool *	addStruct (const char name, const char comment, bool copy=false)

UVariable *	addVar (const char name, const double initialValue, const char type, const char *comment)

UVariable *	addVar (const char name, const char initialValue, const char type, const char comment)

UVariable *	addVarA (const char name, const char initialValue, const char type, const char comment)

bool	callGlobal (const char name, const char paramOrder, char *strings, const double doubles, double value, UDataBase returnStruct, int returnStructCnt)

bool	callGlobalV (const char name, const char paramOrder, UVariable params, UDataBase returnStruct, int *returnStructCnt)
	Call a method from the root var pool scope It may be in the structure direct (no '.') or in any sub-structure that the 'name.subname' indicate. More...

bool	callLocal (const char name, const char paramOrder, char *strings, const double doubles, double value, UDataBase returnStruct, int returnStructCnt)

bool	callVS (const char function, const char stringParam)

int	callVSCD (const char function, const char strPar, UDataBase *data, int cooSys)

void	createBaseVar ()

virtual bool	createVarSpace (const int varCnt, const int structCnt, const int methCnt, const char *note, bool copy=false)

bool	getGlobalString (const char name, const char *value)

bool	getGlobalValue (const char name, double value)

bool	getGlobalValue (const char name, const char *value)

bool	getGlobalValue (const char name, bool value)

bool	getGlobalValue (const char name, UTime value)

bool	getLocalValue (const char name, double value)
	get a value in this variable tree More...

bool	getLocalValue (const char name, bool value)

bool	getLocalValue (const char name, UTime value)

double	getLocalValue (int idx)

UPosition	getLocalValue3D (int idx)

UPosRot	getLocalValue6D (int idx)

bool	getLocalValueBool (int idx)

int	getLocalValueInt (int idx)

UTime	getLocalValueTime (int idx)

const char *	getLogFileName ()

const char *	getVarDescription (int idx)

UVarCalc *	getVarPool ()

bool	isLogFileOpen ()

bool	isLogFileOpen (const char *structName)

bool	isVarPoolUpdated (int lastCnt, int *newCnt)

void	logFileClose ()

bool	logFileOpen ()

void	logFileStart (const char *structName, bool open)

virtual bool	methodCall (const char name, const char paramOrder, char *strings, const double doubles, double value, UDataBase returnStruct=NULL, int returnStructCnt=NULL)

virtual const char *	print (const char preString, char buff, int buffCnt)

bool	setGlobalVar (const char *name, const double value, bool mayAdd)
	Assigns a value to a variable. The variable may be a part of a structure. More...

bool	setLocalVar (int idx, double value, const int element)

bool	setLocalVar (const char *name, const double value, bool mayAdd)
	Assigns a value to a variable. The variable may be a part of a structure. More...

bool	setLocalVar3D (int idx, UPosition *value)

bool	setLocalVar6D (int idx, UPosRot *value)

bool	setLocalVarAdd (int idx, double value, const int element)

bool	setLocalVarPose (int idx, UPose *value)

void	setVarPool (UVarCalc *sharedVarPool)

int	updateQTvars (int structIdx)

	UResVarPool ()

virtual	~UResVarPool ()

Public Member Functions inherited from UResBase
void	createReplayVar (UVarPool *pool)

UCmdExe *	getCorePointer ()

char *	getLogFileName (char *fn, const int fnCnt)

int	getResFuncIdx ()

const char *	getResID ()

int	getResVersion ()

bool	isA (const char *idStr)

bool	isAlsoA (const char *id)

virtual void	saveSettings ()

void	setCorePointer (UCmdExe *serverCore)

void	setResFuncIdx (int idx)

virtual void	setResID (const char *id, const int version)

virtual void	stop (bool)

virtual void	updateReplayStatus ()

	UResBase ()

virtual	~UResBase ()

Public Member Functions inherited from UReplay
void	addChild (UReplay *child)

virtual bool	decodeReplayLine (char *)

char *	getLogFileName (char *fn, const int fnCnt)

char *	getReplayFileName (char *fn, const int fnCnt)

int	getReplayLogLine ()

bool	isReplay ()

bool	isReplayFileOpen ()

void	removeChild (UReplay *child)

virtual void	replayAdvanceTime (UTime untilTime)

void	replaySetBaseFileName (const char name, const char preName="")

void	replaySetFileName (const char *name)

virtual bool	replayStep ()

int	replayStep (int steps)

virtual bool	replayToTime (UTime untilTime)

void	setParent (UReplay *parent)

bool	setReplay (bool value)

	UReplay ()

virtual	~UReplay ()

Public Member Functions inherited from ULock
bool	lock ()

void	lockInit ()

void	post ()

bool	tryLock ()

bool	tryWait ()

	ULock ()

void	unlock ()

bool	wait ()

	~ULock ()

Public Member Functions inherited from UVarMethodImplement
virtual bool	methodCallV (const char name, const char paramOrder, UVariable params[], UDataBase returnStruct, int returnStructCnt)

virtual	~UVarMethodImplement ()

Private Member Functions
void	assign_color_cluster (int index)

void	assign_color_human (int index)

void	assign_color_smr (int index)

void	build_tree_cluster (const boost::filesystem::path &path, int i)

void	build_tree_human (const boost::filesystem::path &path)

void	build_tree_smr (const boost::filesystem::path &path)

void	build_tree_static (const boost::filesystem::path &path, int i)

void	call_tree_cluster (pcl::PointCloud< pcl::PointXYZRGB >::Ptr cluster, pcl::PointCloud< pcl::VFHSignature308 >::Ptr vfhsi, int i)

float	cluster_color (pcl::PointCloud< pcl::PointXYZRGB >::Ptr cloud)

float	cluster_colorS (pcl::PointCloud< pcl::PointXYZRGB >::Ptr cloud)

void	clustering (pcl::PointCloud< pcl::PointXYZRGB >::Ptr cloud_filtered, OBJ obj_img[], std::vector< pcl::PointCloud< pcl::PointXYZRGB >::Ptr > *cluster)

void	clustering_floor (pcl::PointCloud< pcl::PointXYZRGB >::Ptr *cloud_filtered)

void	createBaseVar ()

void	descriptor_human (int k, vfh_model histogram, flann::Matrix< int > &k_indices, flann::Matrix< float > &k_distances)

void	descriptor_smr (int k, vfh_model histogram, flann::Matrix< int > &k_indices, flann::Matrix< float > &k_distances)

void	dominant_color (pcl::PointCloud< pcl::PointXYZRGB >::Ptr cloud, float HMean, float SMean)

void	downsampling (pcl::PointCloud< pcl::PointXYZRGB >::Ptr cloud_ini, pcl::PointCloud< pcl::PointXYZRGB >::Ptr cloud_filtered)

void	estimating_normals (pcl::PointCloud< pcl::PointXYZRGB >::Ptr cloud, pcl::PointCloud< pcl::Normal >::Ptr cloud_normals)

void	estimating_normals_human (pcl::PointCloud< pcl::PointXYZRGB >::Ptr cloud, pcl::PointCloud< pcl::Normal >::Ptr cloud_normals)

void	estimating_normals_smr (pcl::PointCloud< pcl::PointXYZRGB >::Ptr cloud, pcl::PointCloud< pcl::Normal >::Ptr cloud_normals)

void	estimating_vfh (pcl::PointCloud< pcl::PointXYZRGB >::Ptr cloud, pcl::PointCloud< pcl::VFHSignature308 >::Ptr vfhs)

void	estimating_vfh_human (pcl::PointCloud< pcl::PointXYZRGB >::Ptr cloud, pcl::PointCloud< pcl::VFHSignature308 >::Ptr vfhs)

void	estimating_vfh_smr (pcl::PointCloud< pcl::PointXYZRGB >::Ptr cloud, pcl::PointCloud< pcl::VFHSignature308 >::Ptr vfhs)

void	FirstImage (void)

void	GetKinectPointCloudDataRGB (pcl::PointCloud< pcl::PointXYZRGB >::Ptr cloud)

void	loadFeatureModels (const boost::filesystem::path &base_dir, const std::string &extension, std::vector< vfh_model > &models)

bool	loadFileList (std::vector< vfh_model > &models, const std::string &filename)
	Load the list of file model names from an ASCII file. More...

bool	loadHist (const boost::filesystem::path &path, vfh_model &vfh)
	Loads an n-D histogram file as a VFH signature. More...

void	matching (int match, int human_next, int smr_next, pcl::PointCloud< pcl::PointXYZRGB >::Ptr big_cloud, std::vector< pcl::PointCloud< pcl::PointXYZRGB >::Ptr > matched_next, std::vector< pcl::PointCloud< pcl::PointXYZRGB >::Ptr > new_smr, std::vector< pcl::PointCloud< pcl::PointXYZRGB >::Ptr > new_human, std::vector< pcl::PointCloud< pcl::PointXYZRGB >::Ptr > pos_human_next, std::vector< pcl::PointCloud< pcl::PointXYZRGB >::Ptr > pos_smr_next, color color_matched[], color color_new_smr[], color color_new_human[])

void	nearest_neighbors_cluster (const boost::filesystem::path &path, pcl::PointCloud< pcl::VFHSignature308 >::Ptr vfhsi, pcl::PointCloud< pcl::PointXYZRGB >::Ptr cloud, pcl::PointCloud< pcl::PointXYZRGB >::Ptr big_cloud, flann::Matrix< int > &k_indices, flann::Matrix< float > &k_distances, int place, int *pos)

void	nearest_neighbors_human (const boost::filesystem::path &path, flann::Matrix< int > &k_indices, flann::Matrix< float > &k_distances)

void	nearest_neighbors_smr (const boost::filesystem::path &path, flann::Matrix< int > &k_indices, flann::Matrix< float > &k_distances)

void	nearestKSearch (flann::Index< flann::ChiSquareDistance< float > > &index, const vfh_model &model, int k, flann::Matrix< int > &indices, flann::Matrix< float > &distances)
	Search for the closest k neighbors. More...

void	object_classification (OBJ obj_img[], std::vector< pcl::PointCloud< pcl::PointXYZRGB >::Ptr > pre_cluster, pcl::PointCloud< pcl::PointXYZRGB >::Ptr cloud, std::vector< pcl::PointCloud< pcl::PointXYZRGB >::Ptr > pos_human, std::vector< pcl::PointCloud< pcl::PointXYZRGB >::Ptr > pos_smr, std::vector< pcl::PointCloud< pcl::PointXYZRGB >::Ptr > pos_rest, std::vector< pcl::PointCloud< pcl::PointXYZRGB >::Ptr > matched_cluster, std::vector< pcl::PointCloud< pcl::PointXYZRGB >::Ptr > static_cluster, int human, int smr, int rest, int *matchcluster, color color_cluster[])

void	object_classification_frame1 (OBJ obj_img[], std::vector< pcl::PointCloud< pcl::PointXYZRGB >::Ptr > pre_cluster)

void	object_visualization (pcl::visualization::PCLVisualizer viewer, pcl::PointCloud< pcl::PointXYZRGB >::Ptr cloud, std::vector< pcl::PointCloud< pcl::PointXYZRGB >::Ptr > matched_next, std::vector< pcl::PointCloud< pcl::PointXYZRGB >::Ptr > matched_cluster, std::vector< pcl::PointCloud< pcl::PointXYZRGB >::Ptr > smr_new, std::vector< pcl::PointCloud< pcl::PointXYZRGB >::Ptr > human_new, std::vector< pcl::PointCloud< pcl::PointXYZRGB >::Ptr > cluster_new, color color_matched[], color color_cluster[], color color_new_smr[], color color_new_human[], int added)

void	removeAllText3D (int add, int matchcluster, pcl::visualization::PCLVisualizer *viewer)

void	RGB2HSV (int r, int g, int b, float &fh, float &fs, float &fv)

void	TrackObjects (void)

void	update_file_cluster_color (int i)

void	update_file_cluster_position (int i)

void	update_file_human_color (int i)

void	update_file_human_expected (int i)

void	update_file_human_match (std::vector< vfh_model > models, flann::Matrix< int > k_indices, flann::Matrix< float > &k_distances)

void	update_file_human_position (int i)

void	update_file_robot_position (int i)

void	update_file_smr_color (int i)

void	update_file_smr_expected (int i)

void	update_file_smr_position (int i)

void	update_file_static_color (int i)

void	update_file_static_position (int i)

void	update_file_time_calculation (int i)

void	update_file_time_tree (int i)

void	visualization_neighbors (flann::Matrix< int > &k_indices, flann::Matrix< float > &k_distances)

void	visualize_front_page (pcl::visualization::PCLVisualizer *viewer, pcl::PointCloud< pcl::PointXYZRGB >::Ptr cloud)

void	visualize_static (pcl::visualization::PCLVisualizer *viewer, pcl::PointCloud< pcl::PointXYZRGB >::Ptr cloud)

Private Attributes
UVariable *	varKinectMapPool

UVariable *	varMaxMapX

UVariable *	varMaxMapY

UVariable *	varMinMapX
	resulting map limits More...

UVariable *	varMinMapY

UVariable *	varPlaneHeight

UVariable *	varRobotHeight

UVariable *	varShowFloorPlane

UVariable *	varShowRoof

UVariable *	varSquareSize

pcl::visualization::PCLVisualizer *	viewer

Additional Inherited Members
Static Public Member Functions inherited from UResVarPool
static const char *	getResClassID ()

Public Attributes inherited from UFunctionBase
bool	silent
	is reply to client and console to be limited More...

Public Attributes inherited from UReplay
bool	replayTimeAdvancePending

UTime	replayTimeNow

Static Public Attributes inherited from UFunctionBase
static const int	MAX_ID_LENGTH = 30

static const int	MAX_RESOURCE_LIST_SIZE = 250

Protected Member Functions inherited from UFunctionCamBase
UCamPush *	getCam (int imgDevice, const char *posName)

UCamPush *	getCam (int camDevNum)

bool	getCamAndRawImage (UCamPush cam, UImage imgRaw, int imgDevice, void imgBase, const char *posName, int rectfiedImg)

int	getDefaultCamDevice ()

Protected Member Functions inherited from UFunctionImgBase
bool	sendImage (UServerInMsg msg, const char tagName, UImage imgRgb, int imgLeft=0, int imgTop=0, int imgWidth=640, int imgHeight=480, int imgSource=-1, bool isCodecBin=true, bool imgIsBW=false, bool imgGetNum=true, bool imgGetTod=true, bool imgGetTime=false, const char posName=NULL, bool imgGetName=true, bool silent=false)

Protected Member Functions inherited from UFunctionBase
int	getCmdIndex ()

UResBase *	getStaticResource (const char *resName, bool mayCreate, bool staticOnly=true)
	get a pointer to a static resource. More...

bool	isClientAlive (int clientIdx, double holdOffTime)

bool	sendDebug (UServerInMsg msg, const char debugText)

bool	sendDebug (const char *debugText)

bool	sendError (UServerInMsg msg, const char errorText)

bool	sendError (const char *errorText)

bool	sendHelp (UServerInMsg msg, const char infoText)

bool	sendHelp (const char *infoText)

bool	sendInfo (UServerInMsg msg, const char infoText)

bool	sendInfo (const char *infoText)

bool	sendWarning (UServerInMsg msg, const char warningText)

bool	sendWarning (const char *warningText)

UResBase *	setThisResource (const char ID, UResBase resource, bool remove, bool changed, UResBase currentResPtr, bool *isLocal)

Protected Member Functions inherited from UResVarPool
void	setDescription (const char *note, bool copy=false)

Protected Member Functions inherited from UResBase
UResBase *	getStaticResource (const char *resName, bool mayCreate, bool staticOnly=true)
	get a pointer to a static resource. More...

Protected Attributes inherited from UFunctionCamBase
UCamPool *	camPool

Protected Attributes inherited from UFunctionImgBase
UImagePool *	imgPool

Protected Attributes inherited from UFunctionBase
char	aliasName [MAX_ID_LENGTH]

UCmdExe *	cmdHandler

char *	cmdToks [20]

int	cmdToksCnt

char	commandsHandled [MAX_RESOURCE_LIST_SIZE]

UServerInMsg *	msg

char	pluginName [MAX_RESOURCE_LIST_SIZE]

bool	verboseMessages

Protected Attributes inherited from UResBase
int	resFuncIdx

char	resID [MAX_RESOURCE_ID_LENGTH]

char	resIsAlso [MAX_RESOURCE_ISALSO_LENGTH]

int	resVersion

Protected Attributes inherited from UReplay
bool	replay

FILE *	replayFile

char	replayFileName [REPLAY_FILE_NAME_LENGTH]
	replay filename More...

char	replayLine [MAX_LOG_LINE_LENGTH]

int	replayLogLine

UReplay *	replayParent

UTime	replayTimeNext

Static Protected Attributes inherited from UReplay
static const int	MAX_LOG_LINE_LENGTH = 10000

static const int	REPLAY_FILE_NAME_LENGTH = 264
	max length of replay filename More...

Detailed Description

Example plugin that demonstrates a plugin that tracks humans, SMRs and other objects.

Author: Christian Andersen & Albert Navarro

Constructor & Destructor Documentation

UFuncTracking::UFuncTracking ( )

inline

Constructor

References viewer.

UFuncTracking::~UFuncTracking ( )

virtual

Destructor

Member Function Documentation

void UFuncTracking::assign_color_cluster ( int index )

private

assigning a color to the cluster for representing it later on

References DETECTED::b, CD, DETECTED::g, LASTCOLORCLUSTER, and DETECTED::r.

Referenced by object_classification(), and object_classification_frame1().

void UFuncTracking::assign_color_human ( int index )

private

assigning a color to the human for representing it later on

References DETECTED::b, DETECTED::g, HD, LASTCOLORHUMAN, and DETECTED::r.

Referenced by matching(), and object_classification_frame1().

void UFuncTracking::assign_color_smr ( int index )

private

assigning a color to the smr for representing it later on

References DETECTED::b, DETECTED::g, LASTCOLORSMR, DETECTED::r, and SD.

Referenced by matching(), and object_classification_frame1().

void UFuncTracking::build_tree_cluster	(	const boost::filesystem::path &	path,
		int	i
	)

private

builds the kdtree structure of a Cluster descriptor

References data, and loadFeatureModels().

Referenced by call_tree_cluster(), and nearest_neighbors_cluster().

void UFuncTracking::build_tree_human ( const boost::filesystem::path & path )

private

builds the kdtree structure of the HUMAN descriptor

References data, and loadFeatureModels().

Referenced by FirstImage(), object_classification(), and object_classification_frame1().

void UFuncTracking::build_tree_smr ( const boost::filesystem::path & path )

private

builds the kdtree structure of the SMR descriptor

References data, and loadFeatureModels().

Referenced by FirstImage(), object_classification(), and object_classification_frame1().

void UFuncTracking::build_tree_static	(	const boost::filesystem::path &	path,
		int	i
	)

private

builds the kdtree structure of a Static descriptor

References data, and loadFeatureModels().

Referenced by nearest_neighbors_cluster().

void UFuncTracking::call_tree_cluster	(	pcl::PointCloud< pcl::PointXYZRGB >::Ptr	cluster,
		pcl::PointCloud< pcl::VFHSignature308 >::Ptr	vfhsi,
		int	i
	)

private

calls the kdtree cluster

References build_tree_cluster(), CD, cluster_pos, DETECTED::detections, min, position::minx, position::miny, position::minz, and UFunctionBase::name().

Referenced by object_classification(), and object_classification_frame1().

float UFuncTracking::cluster_color ( pcl::PointCloud< pcl::PointXYZRGB >::Ptr cloud )

private

finds the Hue color of a cluster

References RGB2HSV().

Referenced by clustering(), nearest_neighbors_cluster(), and object_classification().

float UFuncTracking::cluster_colorS ( pcl::PointCloud< pcl::PointXYZRGB >::Ptr cloud )

private

finds de Saturation color of a cluster

References RGB2HSV().

Referenced by clustering(), and object_classification().

void UFuncTracking::clustering	(	pcl::PointCloud< pcl::PointXYZRGB >::Ptr	cloud_filtered,
		OBJ	obj_img[],
		std::vector< pcl::PointCloud< pcl::PointXYZRGB >::Ptr > *	cluster
	)

private

clustering the point cloud, extract the cluster that are going to be studied

References OBJ::baseheight, OBJ::basewidth_left, OBJ::basewidth_right, cluster_color(), cluster_colorS(), cluster_detected, cluster_processed, clustercount, DETECTED::COG, DETECTED::colorH, DETECTED::colorS, OBJ::depth, DETECTED::detections, OBJ::dist, dist, DETECTED::empty, FLOOR, OBJ::height, max_width, UTime::Now(), RGB2HSV(), OBJ::size, STATIC, STD, DETECTED::t, OBJ::top, update_file_static_color(), update_file_static_position(), OBJ::width, DETECTED::x, DETECTED::y, and DETECTED::z.

Referenced by FirstImage(), and TrackObjects().

void UFuncTracking::clustering_floor ( pcl::PointCloud< pcl::PointXYZRGB >::Ptr * cloud_filtered )

private

clustering the floor

References FLOOR.

Referenced by FirstImage(), and TrackObjects().

void UFuncTracking::createBaseVar ( )

private

Create create globally available status and configuration variables

void UFuncTracking::descriptor_human	(	int	k,
		vfh_model	histogram,
		flann::Matrix< int > &	k_indices,
		flann::Matrix< float > &	k_distances
	)

private

creates the descriptor of a human

References data, loadFileList(), and nearestKSearch().

void UFuncTracking::descriptor_smr	(	int	k,
		vfh_model	histogram,
		flann::Matrix< int > &	k_indices,
		flann::Matrix< float > &	k_distances
	)

private

creates the descriptor of a SMR

References data, loadFileList(), and nearestKSearch().

void UFuncTracking::dominant_color	(	pcl::PointCloud< pcl::PointXYZRGB >::Ptr	cloud,
		float *	HMean,
		float *	SMean
	)

private

finds the dominant color of a cluster

References RGB2HSV().

Referenced by matching(), nearest_neighbors_cluster(), and object_classification_frame1().

void UFuncTracking::downsampling	(	pcl::PointCloud< pcl::PointXYZRGB >::Ptr	cloud_ini,
		pcl::PointCloud< pcl::PointXYZRGB >::Ptr	cloud_filtered
	)

private

downsamples the image

References lxyz.

Referenced by FirstImage(), and TrackObjects().

void UFuncTracking::estimating_normals	(	pcl::PointCloud< pcl::PointXYZRGB >::Ptr	cloud,
		pcl::PointCloud< pcl::Normal >::Ptr	cloud_normals
	)

private

estimates normals of the cluster

Referenced by estimating_vfh().

void UFuncTracking::estimating_normals_human	(	pcl::PointCloud< pcl::PointXYZRGB >::Ptr	cloud,
		pcl::PointCloud< pcl::Normal >::Ptr	cloud_normals
	)

private

estimates normals of a human

Referenced by estimating_vfh_human().

void UFuncTracking::estimating_normals_smr	(	pcl::PointCloud< pcl::PointXYZRGB >::Ptr	cloud,
		pcl::PointCloud< pcl::Normal >::Ptr	cloud_normals
	)

private

estimates normals of a SMR

Referenced by estimating_vfh_smr().

void UFuncTracking::estimating_vfh	(	pcl::PointCloud< pcl::PointXYZRGB >::Ptr	cloud,
		pcl::PointCloud< pcl::VFHSignature308 >::Ptr	vfhs
	)

private

estimating the vfh cluster

References estimating_normals().

Referenced by object_classification(), and object_classification_frame1().

void UFuncTracking::estimating_vfh_human	(	pcl::PointCloud< pcl::PointXYZRGB >::Ptr	cloud,
		pcl::PointCloud< pcl::VFHSignature308 >::Ptr	vfhs
	)

private

estimating the vfh human

References estimating_normals_human().

Referenced by object_classification(), and object_classification_frame1().

void UFuncTracking::estimating_vfh_smr	(	pcl::PointCloud< pcl::PointXYZRGB >::Ptr	cloud,
		pcl::PointCloud< pcl::VFHSignature308 >::Ptr	vfhs
	)

private

estimating the vfh smr

References estimating_normals_smr().

Referenced by object_classification(), and object_classification_frame1().

void UFuncTracking::FirstImage ( void )

private

void UFuncTracking::GetKinectPointCloudDataRGB ( pcl::PointCloud< pcl::PointXYZRGB >::Ptr cloud )

private

Get kinect pointcloud data from the image pool RGB

References UResVarPool::callGlobal().

Referenced by FirstImage(), and TrackObjects().

bool UFuncTracking::handleCommand	(	UServerInMsg *	msg,
		void *	extra
	)

virtual

Handle incomming command Must return true if the function is handled - otherwise the client will get a 'failed' reply

Reimplemented from UFunctionBase.

References USmlTagIn::getAttValue(), USmlTagIn::getAttValueBool(), USmlTagIn::getAttValueInt(), UFunctionBase::sendHelpDone(), UFunctionBase::sendHelpStart(), UFunctionBase::sendInfo(), UFunctionBase::sendText(), UServerInMsg::tag, and TrackObjects().

void UFuncTracking::loadFeatureModels	(	const boost::filesystem::path &	base_dir,
		const std::string &	extension,
		std::vector< vfh_model > &	models
	)

private

loads the models

References loadHist().

Referenced by build_tree_cluster(), build_tree_human(), build_tree_smr(), and build_tree_static().

bool UFuncTracking::loadFileList	(	std::vector< vfh_model > &	models,
		const std::string &	filename
	)

private

Load the list of file model names from an ASCII file.

loads the file .list

Parameters

models	the resultant list of model name
filename	the input file name

References UResBase::line.

Referenced by descriptor_human(), descriptor_smr(), nearest_neighbors_cluster(), nearest_neighbors_human(), and nearest_neighbors_smr().

bool UFuncTracking::loadHist	(	const boost::filesystem::path &	path,
		vfh_model &	vfh
	)

private

Loads an n-D histogram file as a VFH signature.

load a Histogram

Parameters

path	the input file name
vfh	the resultant VFH model

References nearestKSearch().

Referenced by loadFeatureModels(), nearest_neighbors_cluster(), nearest_neighbors_human(), and nearest_neighbors_smr().

void UFuncTracking::matching	(	int *	match,
		int	human_next,
		int	smr_next,
		pcl::PointCloud< pcl::PointXYZRGB >::Ptr	big_cloud,
		std::vector< pcl::PointCloud< pcl::PointXYZRGB >::Ptr > *	matched_next,
		std::vector< pcl::PointCloud< pcl::PointXYZRGB >::Ptr > *	new_smr,
		std::vector< pcl::PointCloud< pcl::PointXYZRGB >::Ptr > *	new_human,
		std::vector< pcl::PointCloud< pcl::PointXYZRGB >::Ptr >	pos_human_next,
		std::vector< pcl::PointCloud< pcl::PointXYZRGB >::Ptr >	pos_smr_next,
		color	color_matched[],
		color	color_new_smr[],
		color	color_new_human[]
	)

private

matching/correlation of the objects detected in different frames

References DETECTED::angle, assign_color_human(), assign_color_smr(), DETECTED::b, PICTURE::b, color::b, PICTURE::cloud, DETECTED::COG, DETECTED::colorH, DETECTED::colorS, dist, dominant_color(), DETECTED::empty, DETECTED::exp_x, DETECTED::exp_y, DETECTED::g, PICTURE::g, color::g, UTime::getTimePassed(), HD, HP, humancount, HUMANDETECTED, LASTCOLORSMR, UTime::Now(), DETECTED::r, PICTURE::r, color::r, SD, smrcount, SMRDETECTED, DETECTED::speed, PICTURE::suma, DETECTED::t, update_file_human_color(), update_file_human_expected(), update_file_human_position(), update_file_smr_color(), update_file_smr_expected(), update_file_smr_position(), DETECTED::x, X, DETECTED::y, Y, and DETECTED::z.

Referenced by TrackObjects().

void UFuncTracking::nearest_neighbors_cluster	(	const boost::filesystem::path &	path,
		pcl::PointCloud< pcl::VFHSignature308 >::Ptr	vfhsi,
		pcl::PointCloud< pcl::PointXYZRGB >::Ptr	cloud,
		pcl::PointCloud< pcl::PointXYZRGB >::Ptr	big_cloud,
		flann::Matrix< int > &	k_indices,
		flann::Matrix< float > &	k_distances,
		int	place,
		int *	pos
	)

private

calculates the nearest neighbors of a cluster

References DETECTED::b, build_tree_cluster(), build_tree_static(), CD, check, DETECTED::cloud, cluster_color(), cluster_pos, clustercount, DETECTED::COG, DETECTED::colorH, DETECTED::colorS, data, DETECTED::detections, dominant_color(), DETECTED::empty, DETECTED::g, loadFileList(), loadHist(), min, position::minx, position::miny, position::minz, nearestKSearch(), UTime::Now(), DETECTED::r, STATIC, static_size, staticcount, STD, DETECTED::t, thresh_cluster, thresh_static, update_file_cluster_position(), update_file_static_color(), update_file_static_position(), DETECTED::x, DETECTED::y, and DETECTED::z.

Referenced by object_classification().

void UFuncTracking::nearest_neighbors_human	(	const boost::filesystem::path &	path,
		flann::Matrix< int > &	k_indices,
		flann::Matrix< float > &	k_distances
	)

private

calculates the nearest neighbors of a Human

References data, loadFileList(), loadHist(), nearestKSearch(), and update_file_human_match().

Referenced by object_classification(), and object_classification_frame1().

void UFuncTracking::nearest_neighbors_smr	(	const boost::filesystem::path &	path,
		flann::Matrix< int > &	k_indices,
		flann::Matrix< float > &	k_distances
	)

private

calculates the nearest neighbors of a SMR

References data, loadFileList(), loadHist(), and nearestKSearch().

Referenced by object_classification(), and object_classification_frame1().

void UFuncTracking::nearestKSearch	(	flann::Index< flann::ChiSquareDistance< float > > &	index,
		const vfh_model &	model,
		int	k,
		flann::Matrix< int > &	indices,
		flann::Matrix< float > &	distances
	)

inlineprivate

Search for the closest k neighbors.

searches for the K nearest neighbors

Parameters

index	the tree
model	the query model
k	the number of neighbors to search for
indices	the resultant neighbor indices
distances	the resultant neighbor distances

Referenced by descriptor_human(), descriptor_smr(), loadHist(), nearest_neighbors_cluster(), nearest_neighbors_human(), and nearest_neighbors_smr().

void UFuncTracking::object_classification	(	OBJ	obj_img[],
		std::vector< pcl::PointCloud< pcl::PointXYZRGB >::Ptr >	pre_cluster,
		pcl::PointCloud< pcl::PointXYZRGB >::Ptr	cloud,
		std::vector< pcl::PointCloud< pcl::PointXYZRGB >::Ptr > *	pos_human,
		std::vector< pcl::PointCloud< pcl::PointXYZRGB >::Ptr > *	pos_smr,
		std::vector< pcl::PointCloud< pcl::PointXYZRGB >::Ptr > *	pos_rest,
		std::vector< pcl::PointCloud< pcl::PointXYZRGB >::Ptr > *	matched_cluster,
		std::vector< pcl::PointCloud< pcl::PointXYZRGB >::Ptr > *	static_cluster,
		int *	human,
		int *	smr,
		int *	rest,
		int *	matchcluster,
		color	color_cluster[]
	)

private

object classification/recognition, trying to recognize clusters as human, smr or any other type of cluster

References assign_color_cluster(), DETECTED::b, color::b, build_tree_human(), build_tree_smr(), call_tree_cluster(), CD, cluster_color(), cluster_colorS(), clustercount, DETECTED::colorH, DETECTED::colorS, DETECTED::detections, dist, DETECTED::empty, estimating_vfh(), estimating_vfh_human(), estimating_vfh_smr(), FLOOR, DETECTED::g, color::g, UTime::getTimePassed(), human_desc, nearest_neighbors_cluster(), nearest_neighbors_human(), nearest_neighbors_smr(), UTime::Now(), DETECTED::r, color::r, smr_desc, STATIC, DETECTED::t, thresh_human, thresh_human_add, thresh_smr, thresh_smr_add, times_human, times_smr, totalcluster, X, Y, YAW, and Z.

Referenced by TrackObjects().

void UFuncTracking::object_classification_frame1	(	OBJ	obj_img[],
		std::vector< pcl::PointCloud< pcl::PointXYZRGB >::Ptr >	pre_cluster
	)

private

object classification/recognition for the objects found in the first frame, when no clusters have been stored yet

References assign_color_cluster(), assign_color_human(), assign_color_smr(), build_tree_human(), build_tree_smr(), call_tree_cluster(), CD, clustercount, DETECTED::colorH, DETECTED::colorS, dominant_color(), DETECTED::empty, estimating_vfh(), estimating_vfh_human(), estimating_vfh_smr(), FLOOR, HD, HUMAN, human_desc, human_ini, humancount, HUMANDETECTED, LASTCOLORCLUSTER, LASTCOLORHUMAN, LASTCOLORSMR, nearest_neighbors_human(), nearest_neighbors_smr(), UTime::Now(), rest_ini, ROLL, SD, SMR, smr_desc, smr_ini, smrcount, SMRDETECTED, staticcount, DETECTED::t, thresh_human, thresh_smr, totalcluster, update_file_cluster_color(), update_file_cluster_position(), update_file_human_color(), update_file_human_position(), update_file_smr_color(), update_file_smr_position(), DETECTED::x, X, DETECTED::y, Y, YAW, DETECTED::z, and Z.

Referenced by FirstImage().

void UFuncTracking::object_visualization	(	pcl::visualization::PCLVisualizer *	viewer,
		pcl::PointCloud< pcl::PointXYZRGB >::Ptr	cloud,
		std::vector< pcl::PointCloud< pcl::PointXYZRGB >::Ptr >	matched_next,
		std::vector< pcl::PointCloud< pcl::PointXYZRGB >::Ptr >	matched_cluster,
		std::vector< pcl::PointCloud< pcl::PointXYZRGB >::Ptr >	smr_new,
		std::vector< pcl::PointCloud< pcl::PointXYZRGB >::Ptr >	human_new,
		std::vector< pcl::PointCloud< pcl::PointXYZRGB >::Ptr >	cluster_new,
		color	color_matched[],
		color	color_cluster[],
		color	color_new_smr[],
		color	color_new_human[],
		int *	added
	)