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