Allow to set the field of view of the point cloud

In order to be able to cut off outliers, the z-dimensions of the field
of view can be set from outside the people tracker. If there is only a
single outlier, it might not be able to filter the point cloud due to
a lack of memory.

people/include/pcl/people/ground_based_people_detection_app.h

@@ -130,6 +130,15 @@ namespace pcl
       void
       setClassifier (pcl::people::PersonClassifier<pcl::RGB> person_classifier);
 
+      /**
+       * \brief Set the field of view of the point cloud in z direction.
+       *
+       * \param[in] min The beginning of the field of view in z-direction, should be usually set to zero.
+       * \param[in] max The end of the field of view in z-direction.
+       */
+      void
+      setFOV (float min, float max);
+
       /**
        * \brief Set sensor orientation (vertical = true means portrait mode, vertical = false means landscape mode).
        *
@@ -288,6 +297,12 @@ namespace pcl
       /** \brief person clusters minimum width, used to estimate how many points minimally represent a person cluster */
       float min_width_;
 
+      /** \brief the beginning of the field of view in z-direction, should be usually set to zero */
+      float min_fov_;
+
+      /** \brief the end of the field of view in z-direction */
+      float max_fov_;
+
       /** \brief if true, the sensor is considered to be vertically placed (portrait mode) */
       bool vertical_;                    
 

people/include/pcl/people/impl/ground_based_people_detection_app.hpp

@@ -53,6 +53,8 @@ pcl::people::GroundBasedPeopleDetectionApp<PointT>::GroundBasedPeopleDetectionAp
   voxel_size_ = 0.06;
   vertical_ = false;
   head_centroid_ = true;
+  min_fov_ = 0;
+  max_fov_ = 50;
   min_height_ = 1.3;
   max_height_ = 2.3;
   min_width_ = 0.1;
@@ -108,6 +110,13 @@ pcl::people::GroundBasedPeopleDetectionApp<PointT>::setClassifier (pcl::people::
   person_classifier_set_flag_ = true;
 }
 
+template <typename PointT> void
+pcl::people::GroundBasedPeopleDetectionApp<PointT>::setFOV (float min_fov, float max_fov)
+{
+  min_fov_ = min_fov;
+  max_fov_ = max_fov;
+}
+
 template <typename PointT> void
 pcl::people::GroundBasedPeopleDetectionApp<PointT>::setSensorPortraitOrientation (bool vertical)
 {
@@ -232,6 +241,8 @@ pcl::people::GroundBasedPeopleDetectionApp<PointT>::filter ()
   pcl::VoxelGrid<PointT> grid;
   grid.setInputCloud(cloud_);
   grid.setLeafSize(voxel_size_, voxel_size_, voxel_size_);
+  grid.setFilterFieldName("z");
+  grid.setFilterLimits(min_fov_, max_fov_);
   grid.filter(*cloud_filtered_);
 }