Point Cloud Library (PCL)  1.9.1-dev
person_cluster.h
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36  * person_cluster.h
37  * Created on: Nov 30, 2012
38  * Author: Matteo Munaro
39  */
40 
41 #pragma once
42 
43 #include <pcl/point_types.h>
44 #include <pcl/visualization/pcl_visualizer.h>
45 
46 namespace pcl
47 {
48  namespace people
49  {
50  /** \brief @b PersonCluster represents a class for representing information about a cluster containing a person.
51  * \author Filippo Basso, Matteo Munaro
52  * \ingroup people
53  */
54  template <typename PointT> class PersonCluster;
55  template <typename PointT> bool operator<(const PersonCluster<PointT>& c1, const PersonCluster<PointT>& c2);
56 
57  template <typename PointT>
58  class PersonCluster
59  {
60  protected:
61 
63 
64  /** \brief Minimum x coordinate of the cluster points. */
65  float min_x_;
66  /** \brief Minimum y coordinate of the cluster points. */
67  float min_y_;
68  /** \brief Minimum z coordinate of the cluster points. */
69  float min_z_;
70 
71  /** \brief Maximum x coordinate of the cluster points. */
72  float max_x_;
73  /** \brief Maximum y coordinate of the cluster points. */
74  float max_y_;
75  /** \brief Maximum z coordinate of the cluster points. */
76  float max_z_;
77 
78  /** \brief Sum of x coordinates of the cluster points. */
79  float sum_x_;
80  /** \brief Sum of y coordinates of the cluster points. */
81  float sum_y_;
82  /** \brief Sum of z coordinates of the cluster points. */
83  float sum_z_;
84 
85  /** \brief Number of cluster points. */
86  int n_;
87 
88  /** \brief x coordinate of the cluster centroid. */
89  float c_x_;
90  /** \brief y coordinate of the cluster centroid. */
91  float c_y_;
92  /** \brief z coordinate of the cluster centroid. */
93  float c_z_;
94 
95  /** \brief Cluster height from the ground plane. */
96  float height_;
97 
98  /** \brief Cluster distance from the sensor. */
99  float distance_;
100  /** \brief Cluster centroid horizontal angle with respect to z axis. */
101  float angle_;
102 
103  /** \brief Maximum angle of the cluster points. */
104  float angle_max_;
105  /** \brief Minimum angle of the cluster points. */
106  float angle_min_;
107 
108  /** \brief Cluster top point. */
109  Eigen::Vector3f top_;
110  /** \brief Cluster bottom point. */
111  Eigen::Vector3f bottom_;
112  /** \brief Cluster centroid. */
113  Eigen::Vector3f center_;
114 
115  /** \brief Theoretical cluster top. */
116  Eigen::Vector3f ttop_;
117  /** \brief Theoretical cluster bottom (lying on the ground plane). */
118  Eigen::Vector3f tbottom_;
119  /** \brief Theoretical cluster center (between ttop_ and tbottom_). */
120  Eigen::Vector3f tcenter_;
121 
122  /** \brief Vector containing the minimum coordinates of the cluster. */
123  Eigen::Vector3f min_;
124  /** \brief Vector containing the maximum coordinates of the cluster. */
125  Eigen::Vector3f max_;
126 
127  /** \brief Point cloud indices of the cluster points. */
129 
130  /** \brief If true, the sensor is considered to be vertically placed (portrait mode). */
131  bool vertical_;
132  /** \brief PersonCluster HOG confidence. */
134 
135  public:
136 
138  using PointCloudPtr = boost::shared_ptr<PointCloud>;
139  using PointCloudConstPtr = boost::shared_ptr<const PointCloud>;
140 
141  /** \brief Constructor. */
142  PersonCluster (
143  const PointCloudPtr& input_cloud,
144  const pcl::PointIndices& indices,
145  const Eigen::VectorXf& ground_coeffs,
146  float sqrt_ground_coeffs,
147  bool head_centroid,
148  bool vertical = false);
149 
150  /** \brief Destructor. */
151  virtual ~PersonCluster ();
152 
153  /**
154  * \brief Returns the height of the cluster.
155  * \return the height of the cluster.
156  */
157  float
158  getHeight () const;
159 
160  /**
161  * \brief Update the height of the cluster.
162  * \param[in] ground_coeffs The coefficients of the ground plane.
163  * \return the height of the cluster.
164  */
165  float
166  updateHeight (const Eigen::VectorXf& ground_coeffs);
167 
168  /**
169  * \brief Update the height of the cluster.
170  * \param[in] ground_coeffs The coefficients of the ground plane.
171  * \param[in] sqrt_ground_coeffs The norm of the vector [a, b, c] where a, b and c are the first
172  * three coefficients of the ground plane (ax + by + cz + d = 0).
173  * \return the height of the cluster.
174  */
175  float
176  updateHeight (const Eigen::VectorXf& ground_coeffs, float sqrt_ground_coeffs);
177 
178  /**
179  * \brief Returns the distance of the cluster from the sensor.
180  * \return the distance of the cluster (its centroid) from the sensor without considering the
181  * y dimension.
182  */
183  float
184  getDistance () const;
185 
186  /**
187  * \brief Returns the angle formed by the cluster's centroid with respect to the sensor (in radians).
188  * \return the angle formed by the cluster's centroid with respect to the sensor (in radians).
189  */
190  float
191  getAngle () const;
192 
193  /**
194  * \brief Returns the minimum angle formed by the cluster with respect to the sensor (in radians).
195  * \return the minimum angle formed by the cluster with respect to the sensor (in radians).
196  */
197  float
198  getAngleMin () const;
199 
200  /**
201  * \brief Returns the maximum angle formed by the cluster with respect to the sensor (in radians).
202  * \return the maximum angle formed by the cluster with respect to the sensor (in radians).
203  */
204  float
205  getAngleMax () const;
206 
207  /**
208  * \brief Returns the indices of the point cloud points corresponding to the cluster.
209  * \return the indices of the point cloud points corresponding to the cluster.
210  */
212  getIndices ();
213 
214  /**
215  * \brief Returns the theoretical top point.
216  * \return the theoretical top point.
217  */
218  Eigen::Vector3f&
219  getTTop ();
220 
221  /**
222  * \brief Returns the theoretical bottom point.
223  * \return the theoretical bottom point.
224  */
225  Eigen::Vector3f&
226  getTBottom ();
227 
228  /**
229  * \brief Returns the theoretical centroid (at half height).
230  * \return the theoretical centroid (at half height).
231  */
232  Eigen::Vector3f&
233  getTCenter ();
234 
235  /**
236  * \brief Returns the top point.
237  * \return the top point.
238  */
239  Eigen::Vector3f&
240  getTop ();
241 
242  /**
243  * \brief Returns the bottom point.
244  * \return the bottom point.
245  */
246  Eigen::Vector3f&
247  getBottom ();
248 
249  /**
250  * \brief Returns the centroid.
251  * \return the centroid.
252  */
253  Eigen::Vector3f&
254  getCenter ();
255 
256  //Eigen::Vector3f& getTMax();
257 
258  /**
259  * \brief Returns the point formed by min x, min y and min z.
260  * \return the point formed by min x, min y and min z.
261  */
262  Eigen::Vector3f&
263  getMin ();
264 
265  /**
266  * \brief Returns the point formed by max x, max y and max z.
267  * \return the point formed by max x, max y and max z.
268  */
269  Eigen::Vector3f&
270  getMax ();
271 
272  /**
273  * \brief Returns the HOG confidence.
274  * \return the HOG confidence.
275  */
276  float
277  getPersonConfidence () const;
278 
279  /**
280  * \brief Returns the number of points of the cluster.
281  * \return the number of points of the cluster.
282  */
283  int
284  getNumberPoints () const;
285 
286  /**
287  * \brief Sets the cluster height.
288  * \param[in] height
289  */
290  void
291  setHeight (float height);
292 
293  /**
294  * \brief Sets the HOG confidence.
295  * \param[in] confidence
296  */
297  void
298  setPersonConfidence (float confidence);
299 
300  /**
301  * \brief Draws the theoretical 3D bounding box of the cluster in the PCL visualizer.
302  * \param[in] viewer PCL visualizer.
303  * \param[in] person_number progressive number representing the person.
304  */
305  void
306  drawTBoundingBox (pcl::visualization::PCLVisualizer& viewer, int person_number);
307 
308  /**
309  * \brief For sorting purpose: sort by distance.
310  */
311  friend bool operator< <>(const PersonCluster<PointT>& c1, const PersonCluster<PointT>& c2);
312 
313  protected:
314 
315  /**
316  * \brief PersonCluster initialization.
317  */
318  void init(
319  const PointCloudPtr& input_cloud,
320  const pcl::PointIndices& indices,
321  const Eigen::VectorXf& ground_coeffs,
322  float sqrt_ground_coeffs,
323  bool head_centroid,
324  bool vertical);
325 
326  };
327  } /* namespace people */
328 } /* namespace pcl */
329 #include <pcl/people/impl/person_cluster.hpp>
Eigen::Vector3f tcenter_
Theoretical cluster center (between ttop_ and tbottom_).
float getHeight() const
Returns the height of the cluster.
Eigen::Vector3f bottom_
Cluster bottom point.
float max_y_
Maximum y coordinate of the cluster points.
float person_confidence_
PersonCluster HOG confidence.
Eigen::Vector3f & getMax()
Returns the point formed by max x, max y and max z.
float getDistance() const
Returns the distance of the cluster from the sensor.
float angle_
Cluster centroid horizontal angle with respect to z axis.
int n_
Number of cluster points.
float getAngleMin() const
Returns the minimum angle formed by the cluster with respect to the sensor (in radians).
float c_x_
x coordinate of the cluster centroid.
int getNumberPoints() const
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.
float sum_z_
Sum of z coordinates of the cluster points.
float angle_max_
Maximum angle of the cluster points.
float min_z_
Minimum z coordinate of the cluster points.
This file defines compatibility wrappers for low level I/O functions.
Definition: convolution.h:45
Eigen::Vector3f & getCenter()
Returns the centroid.
Eigen::Vector3f & getTCenter()
Returns the theoretical centroid (at half height).
float sum_x_
Sum of x coordinates of the cluster points.
float min_y_
Minimum y coordinate of the cluster points.
Eigen::Vector3f center_
Cluster centroid.
float c_y_
y 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.
boost::shared_ptr< const PointCloud > PointCloudConstPtr
Eigen::Vector3f & getTTop()
Returns the theoretical top point.
Eigen::Vector3f & getBottom()
Returns the bottom point.
Eigen::Vector3f ttop_
Theoretical cluster top.
PersonCluster represents a class for representing information about a cluster containing a person...
PCL Visualizer main class.
Defines all the PCL implemented PointT point type structures.
float getAngle() const
Returns the angle formed by the cluster&#39;s centroid with respect to the sensor (in radians)...
float height_
Cluster height from the ground plane.
float getAngleMax() const
Returns the maximum angle formed by the cluster with respect to the sensor (in radians).
bool vertical_
If true, the sensor is considered to be vertically placed (portrait mode).
float min_x_
Minimum x coordinate of the cluster points.
float angle_min_
Minimum angle of the cluster points.
float sum_y_
Sum of y coordinates of the cluster points.
Eigen::Vector3f & getTop()
Returns the top point.
Eigen::Vector3f top_
Cluster top point.
virtual ~PersonCluster()
Destructor.
PointCloud represents the base class in PCL for storing collections of 3D points. ...
float getPersonConfidence() const
Returns the HOG confidence.
float c_z_
z coordinate of the cluster centroid.
float distance_
Cluster distance from the sensor.
pcl::PointIndices points_indices_
Point cloud indices of the cluster points.
boost::shared_ptr< PointCloud > PointCloudPtr
void setPersonConfidence(float confidence)
Sets 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.
Eigen::Vector3f min_
Vector containing the minimum coordinates of the cluster.
Eigen::Vector3f & getMin()
Returns the point formed by min x, min y and min z.
float max_z_
Maximum z coordinate of the cluster points.
Eigen::Vector3f max_
Vector containing the maximum coordinates of the cluster.
float updateHeight(const Eigen::VectorXf &ground_coeffs)
Update the height of the cluster.
void setHeight(float height)
Sets the cluster height.
Eigen::Vector3f tbottom_
Theoretical cluster bottom (lying on the ground plane).
pcl::PointIndices & getIndices()
Returns the indices of the point cloud points corresponding to the cluster.
Eigen::Vector3f & getTBottom()
Returns the theoretical bottom point.