Point Cloud Library (PCL)
1.9.1
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41 #ifndef PCL_PEOPLE_PERSON_CLUSTER_H_
42 #define PCL_PEOPLE_PERSON_CLUSTER_H_
45 #include <pcl/visualization/pcl_visualizer.h>
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>
virtual ~PersonCluster()
Destructor.
This file defines compatibility wrappers for low level I/O functions.
float min_x_
Minimum x coordinate of the cluster points.
Eigen::Vector3f tcenter_
Theoretical cluster center (between ttop_ and tbottom_).
float sum_z_
Sum of z coordinates of the cluster points.
pcl::PointCloud< PointT > PointCloud
boost::shared_ptr< PointCloud > PointCloudPtr
float min_z_
Minimum z coordinate of the cluster points.
float max_z_
Maximum z coordinate of the cluster points.
float person_confidence_
PersonCluster HOG confidence.
Eigen::Vector3f & getTCenter()
Returns the theoretical centroid (at half height).
bool operator<(const PersonCluster< PointT > &c1, const PersonCluster< PointT > &c2)
float c_y_
y coordinate of the cluster centroid.
Eigen::Vector3f min_
Vector containing the minimum coordinates of the cluster.
Eigen::Vector3f & getCenter()
Returns the centroid.
float angle_max_
Maximum angle of the cluster points.
PointCloud represents the base class in PCL for storing collections of 3D points.
Eigen::Vector3f max_
Vector containing the maximum coordinates of the cluster.
float height_
Cluster height from the ground plane.
int n_
Number of cluster points.
Eigen::Vector3f bottom_
Cluster bottom point.
boost::shared_ptr< const PointCloud > PointCloudConstPtr
float sum_x_
Sum of x coordinates of the cluster points.
Eigen::Vector3f & getMax()
Returns the point formed by max x, max y and max z.
float c_x_
x coordinate of the cluster centroid.
pcl::PointIndices & getIndices()
Returns the indices of the point cloud points corresponding to the cluster.
Eigen::Vector3f & getBottom()
Returns the bottom point.
float sum_y_
Sum of y coordinates of the cluster points.
float c_z_
z coordinate of the cluster centroid.
float updateHeight(const Eigen::VectorXf &ground_coeffs)
Update the height of the cluster.
float getDistance()
Returns the distance of the cluster from the sensor.
float getAngleMax()
Returns the maximum angle formed by the cluster with respect to the sensor (in radians).
void drawTBoundingBox(pcl::visualization::PCLVisualizer &viewer, int person_number)
Draws the theoretical 3D bounding box of the cluster in the PCL visualizer.
float getAngle()
Returns the angle formed by the cluster's centroid with respect to the sensor (in radians).
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).
PersonCluster represents a class for representing information about a cluster containing a person.
float max_y_
Maximum y coordinate of the cluster points.
float getHeight()
Returns the height of the cluster.
Eigen::Vector3f & getMin()
Returns the point formed by min x, min y and min z.
void setHeight(float height)
Sets the cluster height.
pcl::PointIndices points_indices_
Point cloud indices of the cluster points.
PCL Visualizer main class.
float distance_
Cluster distance from the sensor.
float angle_
Cluster centroid horizontal angle with respect to z axis.
Eigen::Vector3f & getTBottom()
Returns the theoretical bottom point.
float min_y_
Minimum y coordinate of the cluster points.
Eigen::Vector3f tbottom_
Theoretical cluster bottom (lying on the ground plane).
int getNumberPoints()
Returns the number of points of the cluster.
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 max_x_
Maximum x coordinate of the cluster points.
Eigen::Vector3f & getTTop()
Returns the theoretical top point.
bool vertical_
If true, the sensor is considered to be vertically placed (portrait mode).
Eigen::Vector3f ttop_
Theoretical cluster top.
float getPersonConfidence()
Returns the HOG confidence.
Eigen::Vector3f center_
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 angle_min_
Minimum angle of the cluster points.
Eigen::Vector3f & getTop()
Returns the top point.
Eigen::Vector3f top_
Cluster top point.