HumanTracker Class Reference

The HumanTracker class can be used to track and filter multiple humans. More...

#include <armarx/navigation/human/HumanTracker.h>

Classes
struct	AdvancedCluster
struct	CameraMeasurement
struct	DetectedHuman
struct	LaserMeasurement
struct	Parameters
struct	PosHumanDistance
struct	PosLaserDistance
struct	TrackedHuman

Public Member Functions
std::vector< human::Human >	getTrackedHumans () const
	HumanTracker::getTrackedHumans Returns all humans that are currently tracked. More...
	HumanTracker ()=default
void	reset ()
	HumanTracker::reset Resets this instance to the same state as if it just would have been created. More...
void	update (const CameraMeasurement &measurements)
	HumanTracker::update Updates the tracked humans with the human measurements from a camera. More...
std::vector< Cluster >	update (const LaserMeasurement &measurements)
	HumanTracker::update Updates the tracked humans with the measurements from a lasersensor. More...

Detailed Description

The HumanTracker class can be used to track and filter multiple humans.

It hides implementation detail on how new detected humans are associated to the old, already tracked humans. New detected humans can be fed by using the update method. The tracked humans can be obtained using the getTrackedHumans method.

Definition at line 47 of file HumanTracker.h.

Constructor & Destructor Documentation

HumanTracker()

HumanTracker ( )

default

Member Function Documentation

getTrackedHumans()

std::vector< human::Human > getTrackedHumans

(

)

const

HumanTracker::getTrackedHumans Returns all humans that are currently tracked.

Returns

the tracked humans

Definition at line 152 of file HumanTracker.cpp.

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reset()

void reset

(

)

HumanTracker::reset Resets this instance to the same state as if it just would have been created.

Definition at line 161 of file HumanTracker.cpp.

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update() [1/2]

void update

(

const CameraMeasurement &

measurements

)

HumanTracker::update Updates the tracked humans with the human measurements from a camera.

When a measurement is close enough to an existing tracked human, they are associated, otherwise a new tracked human is created. Tracked humans that were not associated with a new measurement for a specified amount of time are removed. New associated measurements for a tracked human are always filtered to provide a less noisy state.

Parameters

measurements

the new measurements of the environment

Definition at line 19 of file HumanTracker.cpp.

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update() [2/2]

std::vector< Cluster > update

(

const LaserMeasurement &

measurements

)

HumanTracker::update Updates the tracked humans with the measurements from a lasersensor.

When a measurement is close enough to an existing tracked human, they are associated, otherwise the measurement is not used for human tracking but returned in the list of unused measurements. Tracked humans that were not associated with a new measurement for a specified amount of time are removed. New associated measurements for a tracked human are always filtered to provide a less noisy state.

Parameters

measurements

Returns

Definition at line 52 of file HumanTracker.cpp.

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

• armarx/navigation/human/HumanTracker.h
• armarx/navigation/human/HumanTracker.cpp