person_classifier.h

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 * person_classifier.h
 * Created on: Nov 30, 2012
 * Author: Matteo Munaro
 */
 
#ifndef PCL_PEOPLE_PERSON_CLASSIFIER_H_
#define PCL_PEOPLE_PERSON_CLASSIFIER_H_

#include <pcl/people/person_cluster.h>
#include <pcl/people/hog.h>

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

    template <typename PointT>
    class PersonClassifier
    {
    protected:

      int window_height_;          
      
      int window_width_;          
      
      float SVM_offset_;          
      
      std::vector<float> SVM_weights_;  

    public:

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

      PersonClassifier ();

      virtual ~PersonClassifier ();

      bool
      loadSVMFromFile (std::string svm_filename);

      void
      setSVM (int window_height, int window_width, std::vector<float> SVM_weights, float SVM_offset);

      void
      getSVM (int& window_height, int& window_width, std::vector<float>& SVM_weights, float& SVM_offset);

      void
      resize (PointCloudPtr& input_image, PointCloudPtr& output_image,
              int width, int height);

      void
      copyMakeBorder (PointCloudPtr& input_image, PointCloudPtr& output_image,
          int xmin, int ymin, int width, int height);

      double
      evaluate (float height, float xc, float yc, PointCloudPtr& image);

      double
      evaluate (PointCloudPtr& image, Eigen::Vector3f& bottom, Eigen::Vector3f& top, Eigen::Vector3f& centroid,
         bool vertical);
    };
  } /* namespace people */
} /* namespace pcl */
#include <pcl/people/impl/person_classifier.hpp>
#endif /* PCL_PEOPLE_PERSON_CLASSIFIER_H_ */