#include <person_cluster.h>

Public Types
typedef pcl::PointCloud< PointT >	PointCloud
typedef boost::shared_ptr < const PointCloud >	PointCloudConstPtr
typedef boost::shared_ptr < PointCloud >	PointCloudPtr
Public Member Functions
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).
float	getAngleMax ()
	Returns the maximum angle formed by the cluster with respect to the sensor (in radians).
float	getAngleMin ()
	Returns the minimum angle formed by the cluster with respect to the sensor (in radians).
Eigen::Vector3f &	getBottom ()
	Returns the bottom point.
Eigen::Vector3f &	getCenter ()
	Returns the centroid.
float	getDistance ()
	Returns the distance of the cluster from the sensor.
float	getHeight ()
	Returns the height of the cluster.
pcl::PointIndices &	getIndices ()
	Returns the indices of the point cloud points corresponding to the cluster.
Eigen::Vector3f &	getMax ()
	Returns the point formed by max x, max y and max z.
Eigen::Vector3f &	getMin ()
	Returns the point formed by min x, min y and min z.
int	getNumberPoints ()
	Returns the number of points of the cluster.
float	getPersonConfidence ()
	Returns the HOG confidence.
Eigen::Vector3f &	getTBottom ()
	Returns the theoretical bottom point.
Eigen::Vector3f &	getTCenter ()
	Returns the theoretical centroid (at half height).
Eigen::Vector3f &	getTop ()
	Returns the top point.
Eigen::Vector3f &	getTTop ()
	Returns the theoretical top point.
	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.
void	setHeight (float height)
	Sets the cluster height.
void	setPersonConfidence (float confidence)
	Sets the HOG confidence.
float	updateHeight (const Eigen::VectorXf &ground_coeffs)
	Update the height of the cluster.
float	updateHeight (const Eigen::VectorXf &ground_coeffs, float sqrt_ground_coeffs)
	Update the height of the cluster.
virtual	~PersonCluster ()
	Destructor.
Protected Member Functions
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.
Protected Attributes
float	angle_
	Cluster centroid horizontal angle with respect to z axis.
float	angle_max_
	Maximum angle of the cluster points.
float	angle_min_
	Minimum angle of the cluster points.
Eigen::Vector3f	bottom_
	Cluster bottom point.
float	c_x_
	x coordinate of the cluster centroid.
float	c_y_
	y coordinate of the cluster centroid.
float	c_z_
	z coordinate of the cluster centroid.
Eigen::Vector3f	center_
	Cluster centroid.
float	distance_
	Cluster distance from the sensor.
bool	head_centroid_
float	height_
	Cluster height from the ground plane.
Eigen::Vector3f	max_
	Vector containing the maximum coordinates of the cluster.
float	max_x_
	Maximum x coordinate of the cluster points.
float	max_y_
	Maximum y coordinate of the cluster points.
float	max_z_
	Maximum z coordinate of the cluster points.
Eigen::Vector3f	min_
	Vector containing the minimum coordinates of the cluster.
float	min_x_
	Minimum x coordinate of the cluster points.
float	min_y_
	Minimum y coordinate of the cluster points.
float	min_z_
	Minimum z coordinate of the cluster points.
int	n_
	Number of cluster points.
float	person_confidence_
	PersonCluster HOG confidence.
pcl::PointIndices	points_indices_
	Point cloud indices of the cluster points.
float	sum_x_
	Sum of x coordinates of the cluster points.
float	sum_y_
	Sum of y coordinates of the cluster points.
float	sum_z_
	Sum of z coordinates of the cluster points.
Eigen::Vector3f	tbottom_
	Theoretical cluster bottom (lying on the ground plane).
Eigen::Vector3f	tcenter_
	Theoretical cluster center (between ttop_ and tbottom_).
Eigen::Vector3f	top_
	Cluster top point.
Eigen::Vector3f	ttop_
	Theoretical cluster top.
bool	vertical_
	If true, the sensor is considered to be vertically placed (portrait mode).
Friends
bool	operator< (const PersonCluster< PointT > &c1, const PersonCluster< PointT > &c2)
	For sorting purpose: sort by distance.

Detailed Description

template<typename PointT>
class pcl::people::PersonCluster< PointT >

Definition at line 59 of file person_cluster.h.

Member Typedef Documentation

template<typename PointT>

typedef pcl::PointCloud<PointT> pcl::people::PersonCluster< PointT >::PointCloud

Definition at line 138 of file person_cluster.h.

template<typename PointT>

typedef boost::shared_ptr<const PointCloud> pcl::people::PersonCluster< PointT >::PointCloudConstPtr

Definition at line 140 of file person_cluster.h.

template<typename PointT>

typedef boost::shared_ptr<PointCloud> pcl::people::PersonCluster< PointT >::PointCloudPtr

Definition at line 139 of file person_cluster.h.

Constructor & Destructor Documentation

template<typename PointT >

pcl::people::PersonCluster< PointT >::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.

Definition at line 47 of file person_cluster.hpp.

template<typename PointT >

pcl::people::PersonCluster< PointT >::~PersonCluster ( ) [virtual]

Destructor.

Definition at line 429 of file person_cluster.hpp.

Member Function Documentation

template<typename PointT >

void pcl::people::PersonCluster< PointT >::drawTBoundingBox	(	pcl::visualization::PCLVisualizer &	viewer,
		int	person_number
	)

Draws the theoretical 3D bounding box of the cluster in the PCL visualizer.

Parameters:

[in]	viewer	PCL visualizer.
[in]	person_numbers	progressive number representing the person.

Definition at line 385 of file person_cluster.hpp.

template<typename PointT >

float pcl::people::PersonCluster< PointT >::getAngle ( )

Returns the angle formed by the cluster's centroid with respect to the sensor (in radians).

Returns:: the angle formed by the cluster's centroid with respect to the sensor (in radians).

Definition at line 343 of file person_cluster.hpp.

template<typename PointT >

float pcl::people::PersonCluster< PointT >::getAngleMax ( )

Returns the maximum angle formed by the cluster with respect to the sensor (in radians).

Returns:: the maximum angle formed by the cluster with respect to the sensor (in radians).

Definition at line 349 of file person_cluster.hpp.

template<typename PointT >

float pcl::people::PersonCluster< PointT >::getAngleMin ( )

Returns the minimum angle formed by the cluster with respect to the sensor (in radians).

Returns:: the minimum angle formed by the cluster with respect to the sensor (in radians).

Definition at line 355 of file person_cluster.hpp.

template<typename PointT >

Eigen::Vector3f & pcl::people::PersonCluster< PointT >::getBottom ( )

Returns the bottom point.

Returns:: the bottom point.

Definition at line 319 of file person_cluster.hpp.

template<typename PointT >

Eigen::Vector3f & pcl::people::PersonCluster< PointT >::getCenter ( )

Returns the centroid.

Returns:: the centroid.

Definition at line 325 of file person_cluster.hpp.

template<typename PointT >

float pcl::people::PersonCluster< PointT >::getDistance ( )

Returns the distance of the cluster from the sensor.

Returns:: the distance of the cluster (its centroid) from the sensor without considering the y dimension.

Definition at line 289 of file person_cluster.hpp.

template<typename PointT >

float pcl::people::PersonCluster< PointT >::getHeight ( )

Returns the height of the cluster.

Returns:: the height of the cluster.

Definition at line 261 of file person_cluster.hpp.

template<typename PointT >

pcl::PointIndices & pcl::people::PersonCluster< PointT >::getIndices ( )

Returns the indices of the point cloud points corresponding to the cluster.

Returns:: the indices of the point cloud points corresponding to the cluster.

Definition at line 255 of file person_cluster.hpp.

template<typename PointT >

Eigen::Vector3f & pcl::people::PersonCluster< PointT >::getMax ( )

Returns the point formed by max x, max y and max z.

Returns:: the point formed by max x, max y and max z.

Definition at line 337 of file person_cluster.hpp.

template<typename PointT >

Eigen::Vector3f & pcl::people::PersonCluster< PointT >::getMin ( )

Returns the point formed by min x, min y and min z.

Returns:: the point formed by min x, min y and min z.

Definition at line 331 of file person_cluster.hpp.

template<typename PointT >

int pcl::people::PersonCluster< PointT >::getNumberPoints ( )

Returns the number of points of the cluster.

Returns:: the number of points of the cluster.

Definition at line 361 of file person_cluster.hpp.

template<typename PointT >

float pcl::people::PersonCluster< PointT >::getPersonConfidence ( )

Returns the HOG confidence.

Returns:: the HOG confidence.

Definition at line 367 of file person_cluster.hpp.

template<typename PointT >

Eigen::Vector3f & pcl::people::PersonCluster< PointT >::getTBottom ( )

Returns the theoretical bottom point.

Returns:: the theoretical bottom point.

Definition at line 301 of file person_cluster.hpp.

template<typename PointT >

Eigen::Vector3f & pcl::people::PersonCluster< PointT >::getTCenter ( )

Returns the theoretical centroid (at half height).

Returns:: the theoretical centroid (at half height).

Definition at line 307 of file person_cluster.hpp.

template<typename PointT >

Eigen::Vector3f & pcl::people::PersonCluster< PointT >::getTop ( )

Returns the top point.

Returns:: the top point.

Definition at line 313 of file person_cluster.hpp.

template<typename PointT >

Eigen::Vector3f & pcl::people::PersonCluster< PointT >::getTTop ( )

Returns the theoretical top point.

Returns:: the theoretical top point.

Definition at line 295 of file person_cluster.hpp.

template<typename PointT >

void pcl::people::PersonCluster< PointT >::init	(	const PointCloudPtr &	input_cloud,
		const pcl::PointIndices &	indices,
		const Eigen::VectorXf &	ground_coeffs,
		float	sqrt_ground_coeffs,
		bool	head_centroid,
		bool	vertical
	)		`[protected]`

PersonCluster initialization.

Definition at line 59 of file person_cluster.hpp.

template<typename PointT >

void pcl::people::PersonCluster< PointT >::setHeight ( float height )

Sets the cluster height.

Parameters:

[in] height

Definition at line 379 of file person_cluster.hpp.

template<typename PointT >

void pcl::people::PersonCluster< PointT >::setPersonConfidence ( float confidence )

Sets the HOG confidence.

Parameters:

[in] confidence

Definition at line 373 of file person_cluster.hpp.

template<typename PointT >

float pcl::people::PersonCluster< PointT >::updateHeight ( const Eigen::VectorXf & ground_coeffs )

Update the height of the cluster.

Parameters:

[in] ground_coeffs The coefficients of the ground plane.

Returns:: the height of the cluster.

Definition at line 267 of file person_cluster.hpp.

template<typename PointT >

float pcl::people::PersonCluster< PointT >::updateHeight	(	const Eigen::VectorXf &	ground_coeffs,
		float	sqrt_ground_coeffs
	)

Update the height of the cluster.

Parameters:

[in]	ground_coeffs	The coefficients of the ground plane.
[in]	sqrt_ground_coeffs	The norm of the vector [a, b, c] where a, b and c are the first three coefficients of the ground plane (ax + by + cz + d = 0).

Returns:: the height of the cluster.

Definition at line 274 of file person_cluster.hpp.

Friends And Related Function Documentation

template<typename PointT>

bool operator<	(	const PersonCluster< PointT > &	c1,
		const PersonCluster< PointT > &	c2
	)		`[friend]`

For sorting purpose: sort by distance.

Member Data Documentation

template<typename PointT>

float pcl::people::PersonCluster< PointT >::angle_ [protected]

Cluster centroid horizontal angle with respect to z axis.

Definition at line 102 of file person_cluster.h.

template<typename PointT>

float pcl::people::PersonCluster< PointT >::angle_max_ [protected]

Maximum angle of the cluster points.

Definition at line 105 of file person_cluster.h.

template<typename PointT>

float pcl::people::PersonCluster< PointT >::angle_min_ [protected]

Minimum angle of the cluster points.

Definition at line 107 of file person_cluster.h.

template<typename PointT>

Eigen::Vector3f pcl::people::PersonCluster< PointT >::bottom_ [protected]

Cluster bottom point.

Definition at line 112 of file person_cluster.h.

template<typename PointT>

float pcl::people::PersonCluster< PointT >::c_x_ [protected]

x coordinate of the cluster centroid.

Definition at line 90 of file person_cluster.h.

template<typename PointT>

float pcl::people::PersonCluster< PointT >::c_y_ [protected]

y coordinate of the cluster centroid.

Definition at line 92 of file person_cluster.h.

template<typename PointT>

float pcl::people::PersonCluster< PointT >::c_z_ [protected]

z coordinate of the cluster centroid.

Definition at line 94 of file person_cluster.h.

template<typename PointT>

Eigen::Vector3f pcl::people::PersonCluster< PointT >::center_ [protected]

Cluster centroid.

Definition at line 114 of file person_cluster.h.

template<typename PointT>

float pcl::people::PersonCluster< PointT >::distance_ [protected]

Cluster distance from the sensor.

Definition at line 100 of file person_cluster.h.

template<typename PointT>

bool pcl::people::PersonCluster< PointT >::head_centroid_ [protected]

Definition at line 63 of file person_cluster.h.

template<typename PointT>

float pcl::people::PersonCluster< PointT >::height_ [protected]

Cluster height from the ground plane.

Definition at line 97 of file person_cluster.h.

template<typename PointT>

Eigen::Vector3f pcl::people::PersonCluster< PointT >::max_ [protected]

Vector containing the maximum coordinates of the cluster.

Definition at line 126 of file person_cluster.h.

template<typename PointT>

float pcl::people::PersonCluster< PointT >::max_x_ [protected]

Maximum x coordinate of the cluster points.

Definition at line 73 of file person_cluster.h.

template<typename PointT>

float pcl::people::PersonCluster< PointT >::max_y_ [protected]

Maximum y coordinate of the cluster points.

Definition at line 75 of file person_cluster.h.

template<typename PointT>

float pcl::people::PersonCluster< PointT >::max_z_ [protected]

Maximum z coordinate of the cluster points.

Definition at line 77 of file person_cluster.h.

template<typename PointT>

Eigen::Vector3f pcl::people::PersonCluster< PointT >::min_ [protected]

Vector containing the minimum coordinates of the cluster.

Definition at line 124 of file person_cluster.h.

template<typename PointT>

float pcl::people::PersonCluster< PointT >::min_x_ [protected]

Minimum x coordinate of the cluster points.

Definition at line 66 of file person_cluster.h.

template<typename PointT>

float pcl::people::PersonCluster< PointT >::min_y_ [protected]

Minimum y coordinate of the cluster points.

Definition at line 68 of file person_cluster.h.

template<typename PointT>

float pcl::people::PersonCluster< PointT >::min_z_ [protected]

Minimum z coordinate of the cluster points.

Definition at line 70 of file person_cluster.h.

template<typename PointT>

int pcl::people::PersonCluster< PointT >::n_ [protected]

Number of cluster points.

Definition at line 87 of file person_cluster.h.

template<typename PointT>

float pcl::people::PersonCluster< PointT >::person_confidence_ [protected]

PersonCluster HOG confidence.

Definition at line 134 of file person_cluster.h.

template<typename PointT>

pcl::PointIndices pcl::people::PersonCluster< PointT >::points_indices_ [protected]

Point cloud indices of the cluster points.

Definition at line 129 of file person_cluster.h.

template<typename PointT>

float pcl::people::PersonCluster< PointT >::sum_x_ [protected]

Sum of x coordinates of the cluster points.

Definition at line 80 of file person_cluster.h.

template<typename PointT>

float pcl::people::PersonCluster< PointT >::sum_y_ [protected]

Sum of y coordinates of the cluster points.

Definition at line 82 of file person_cluster.h.

template<typename PointT>

float pcl::people::PersonCluster< PointT >::sum_z_ [protected]

Sum of z coordinates of the cluster points.

Definition at line 84 of file person_cluster.h.

template<typename PointT>

Eigen::Vector3f pcl::people::PersonCluster< PointT >::tbottom_ [protected]

Theoretical cluster bottom (lying on the ground plane).

Definition at line 119 of file person_cluster.h.

template<typename PointT>

Eigen::Vector3f pcl::people::PersonCluster< PointT >::tcenter_ [protected]

Theoretical cluster center (between ttop_ and tbottom_).

Definition at line 121 of file person_cluster.h.

template<typename PointT>

Eigen::Vector3f pcl::people::PersonCluster< PointT >::top_ [protected]

Cluster top point.

Definition at line 110 of file person_cluster.h.

template<typename PointT>

Eigen::Vector3f pcl::people::PersonCluster< PointT >::ttop_ [protected]

Theoretical cluster top.

Definition at line 117 of file person_cluster.h.

template<typename PointT>

bool pcl::people::PersonCluster< PointT >::vertical_ [protected]

If true, the sensor is considered to be vertically placed (portrait mode).

Definition at line 132 of file person_cluster.h.

The documentation for this class was generated from the following files:

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Detailed Description

template<typename PointT> class pcl::people::PersonCluster< PointT >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation

template<typename PointT>
class pcl::people::PersonCluster< PointT >