head_based_subcluster.h

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 * head_based_subcluster.h
 * Created on: Nov 30, 2012
 * Author: Matteo Munaro
 */

#ifndef PCL_PEOPLE_HEAD_BASED_SUBCLUSTER_H_
#define PCL_PEOPLE_HEAD_BASED_SUBCLUSTER_H_

#include <pcl/people/person_cluster.h>
#include <pcl/people/height_map_2d.h>
#include <pcl/point_types.h>

namespace pcl
{
  namespace people
  {
    template <typename PointT> class HeadBasedSubclustering;

    template <typename PointT>
    class HeadBasedSubclustering
    {
    public:

      typedef pcl::PointCloud<PointT> PointCloud;
      typedef boost::shared_ptr<PointCloud> PointCloudPtr;
      typedef boost::shared_ptr<const PointCloud> PointCloudConstPtr;

      HeadBasedSubclustering ();

      virtual ~HeadBasedSubclustering ();

      void
      subcluster (std::vector<pcl::people::PersonCluster<PointT> >& clusters);

      void
      mergeClustersCloseInFloorCoordinates (std::vector<pcl::people::PersonCluster<PointT> >& input_clusters,
          std::vector<pcl::people::PersonCluster<PointT> >& output_clusters);

      void
      createSubClusters (pcl::people::PersonCluster<PointT>& cluster, int maxima_number_after_filtering,  std::vector<int>& maxima_cloud_indices_filtered,
          std::vector<pcl::people::PersonCluster<PointT> >& subclusters);

      void
      setInputCloud (PointCloudPtr& cloud);

      void
      setGround (Eigen::VectorXf& ground_coeffs);

      void
      setSensorPortraitOrientation (bool vertical);

      void
      setHeadCentroid (bool head_centroid);

      void
      setInitialClusters (std::vector<pcl::PointIndices>& cluster_indices);

      void
      setHeightLimits (float min_height, float max_height);

      void
      setDimensionLimits (int min_points, int max_points);

      void
      setMinimumDistanceBetweenHeads (float heads_minimum_distance);

      void
      getHeightLimits (float& min_height, float& max_height);

      void
      getDimensionLimits (int& min_points, int& max_points);

      float
      getMinimumDistanceBetweenHeads ();

    protected:
      Eigen::VectorXf ground_coeffs_;            
      
      float sqrt_ground_coeffs_;              
      
      std::vector<pcl::PointIndices> cluster_indices_;   
      
      PointCloudPtr cloud_;                
      
      float max_height_;                  
      
      float min_height_;                  
      
      bool vertical_;                   
      
      bool head_centroid_;                                            
      
      int max_points_;                  
      
      int min_points_;                  
      
      float heads_minimum_distance_;           
    };
  } /* namespace people */
} /* namespace pcl */
#include <pcl/people/impl/head_based_subcluster.hpp>
#endif /* PCL_PEOPLE_HEAD_BASED_SUBCLUSTER_H_ */