43 #include <pcl/point_types.h>
44 #include <pcl/visualization/pcl_visualizer.h>
55 template <
typename Po
intT>
bool operator<(const PersonCluster<PointT>& c1,
const PersonCluster<PointT>& c2);
57 template <
typename Po
intT>
145 const Eigen::VectorXf& ground_coeffs,
146 float sqrt_ground_coeffs,
148 bool vertical =
false);
176 updateHeight (
const Eigen::VectorXf& ground_coeffs,
float sqrt_ground_coeffs);
321 const Eigen::VectorXf& ground_coeffs,
322 float sqrt_ground_coeffs,
329 #include <pcl/people/impl/person_cluster.hpp>
Eigen::Vector3f tcenter_
Theoretical cluster center (between ttop_ and tbottom_).
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 angle_
Cluster centroid horizontal angle with respect to z axis.
shared_ptr< PointCloud< PointT > > Ptr
int n_
Number of cluster points.
float c_x_
x coordinate of the cluster centroid.
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 getHeight() const
Returns the height of the cluster.
float angle_max_
Maximum angle of the cluster points.
float min_z_
Minimum z coordinate of the cluster points.
float getAngleMin() const
Returns the minimum angle formed by the cluster with respect to the sensor (in radians).
float getAngle() const
Returns the angle formed by the cluster's centroid with respect to the sensor (in radians)...
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.
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.
float height_
Cluster height from the ground plane.
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.
float getPersonConfidence() const
Returns the HOG confidence.
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 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.
float getDistance() const
Returns the distance of the cluster from the sensor.
void setPersonConfidence(float confidence)
Sets the HOG confidence.
shared_ptr< const PointCloud< PointT > > ConstPtr
void drawTBoundingBox(pcl::visualization::PCLVisualizer &viewer, int person_number)
Draws the theoretical 3D bounding box of the cluster in the PCL visualizer.
int getNumberPoints() const
Returns the number of points of the cluster.
typename PointCloud::Ptr PointCloudPtr
float getAngleMax() const
Returns the maximum angle formed by the cluster with respect to the sensor (in radians).
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.
typename PointCloud::ConstPtr PointCloudConstPtr
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.