41 #ifndef PCL_PEOPLE_PERSON_CLUSTER_H_
42 #define PCL_PEOPLE_PERSON_CLUSTER_H_
44 #include <pcl/point_types.h>
45 #include <pcl/visualization/pcl_visualizer.h>
56 template <
typename Po
intT>
bool operator<(const PersonCluster<PointT>& c1,
const PersonCluster<PointT>& c2);
58 template <
typename Po
intT>
146 const Eigen::VectorXf& ground_coeffs,
147 float sqrt_ground_coeffs,
149 bool vertical =
false);
177 updateHeight (
const Eigen::VectorXf& ground_coeffs,
float sqrt_ground_coeffs);
322 const Eigen::VectorXf& ground_coeffs,
323 float sqrt_ground_coeffs,
330 #include <pcl/people/impl/person_cluster.hpp>
Eigen::Vector3f center_
Cluster centroid.
Eigen::Vector3f tbottom_
Theoretical cluster bottom (lying on the ground plane).
Eigen::Vector3f & getTBottom()
Returns the theoretical bottom point.
virtual ~PersonCluster()
Destructor.
float min_y_
Minimum y coordinate of the cluster points.
void setHeight(float height)
Sets the cluster height.
pcl::PointIndices points_indices_
Point cloud indices of the cluster points.
Eigen::Vector3f & getTop()
Returns the top point.
float getDistance()
Returns the distance of the cluster from the sensor.
Eigen::Vector3f & getMax()
Returns the point formed by max x, max y and max z.
boost::shared_ptr< PointCloud > PointCloudPtr
int n_
Number of cluster points.
Eigen::Vector3f & getTTop()
Returns the theoretical top point.
float distance_
Cluster distance from the sensor.
PCL Visualizer main class.
Eigen::Vector3f max_
Vector containing the maximum coordinates of the cluster.
float angle_
Cluster centroid horizontal angle with respect to z axis.
float c_y_
y coordinate of the cluster centroid.
float getHeight()
Returns the height of the cluster.
int getNumberPoints()
Returns the number of points of the cluster.
Eigen::Vector3f & getCenter()
Returns the centroid.
float sum_x_
Sum of x coordinates of the cluster points.
bool vertical_
If true, the sensor is considered to be vertically placed (portrait mode).
float getPersonConfidence()
Returns the HOG confidence.
void drawTBoundingBox(pcl::visualization::PCLVisualizer &viewer, int person_number)
Draws the theoretical 3D bounding box of the cluster in the PCL visualizer.
float getAngleMax()
Returns the maximum angle formed by the cluster with respect to the sensor (in radians).
PersonCluster(const PointCloudPtr &input_cloud, const pcl::PointIndices &indices, const Eigen::VectorXf &ground_coeffs, float sqrt_ground_coeffs, bool head_centroid, bool vertical=false)
Constructor.
float angle_max_
Maximum angle of the cluster points.
Eigen::Vector3f min_
Vector containing the minimum coordinates of the cluster.
float getAngle()
Returns the angle formed by the cluster's centroid with respect to the sensor (in radians)...
Eigen::Vector3f top_
Cluster top point.
float min_z_
Minimum z coordinate of the cluster points.
Eigen::Vector3f bottom_
Cluster bottom point.
PersonCluster represents a class for representing information about a cluster containing a person...
float max_z_
Maximum z coordinate of the cluster points.
float person_confidence_
PersonCluster HOG confidence.
float c_z_
z coordinate of the cluster centroid.
void init(const PointCloudPtr &input_cloud, const pcl::PointIndices &indices, const Eigen::VectorXf &ground_coeffs, float sqrt_ground_coeffs, bool head_centroid, bool vertical)
PersonCluster initialization.
float sum_y_
Sum of y coordinates of the cluster points.
pcl::PointIndices & getIndices()
Returns the indices of the point cloud points corresponding to the cluster.
void setPersonConfidence(float confidence)
Sets the HOG confidence.
float getAngleMin()
Returns the minimum angle formed by the cluster with respect to the sensor (in radians).
float sum_z_
Sum of z coordinates of the cluster points.
float min_x_
Minimum x coordinate of the cluster points.
boost::shared_ptr< const PointCloud > PointCloudConstPtr
Eigen::Vector3f tcenter_
Theoretical cluster center (between ttop_ and tbottom_).
float max_x_
Maximum x coordinate of the cluster points.
float max_y_
Maximum y coordinate of the cluster points.
Eigen::Vector3f & getMin()
Returns the point formed by min x, min y and min z.
Eigen::Vector3f ttop_
Theoretical cluster top.
float height_
Cluster height from the ground plane.
float c_x_
x coordinate of the cluster centroid.
Eigen::Vector3f & getBottom()
Returns the bottom point.
pcl::PointCloud< PointT > PointCloud
Eigen::Vector3f & getTCenter()
Returns the theoretical centroid (at half height).
float updateHeight(const Eigen::VectorXf &ground_coeffs)
Update the height of the cluster.
float angle_min_
Minimum angle of the cluster points.