ground_based_people_detection_app.h

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

#ifndef PCL_PEOPLE_GROUND_BASED_PEOPLE_DETECTION_APP_H_
#define PCL_PEOPLE_GROUND_BASED_PEOPLE_DETECTION_APP_H_

#include <pcl/point_types.h>
#include <pcl/sample_consensus/sac_model_plane.h>
#include <pcl/sample_consensus/ransac.h>
#include <pcl/filters/extract_indices.h>
#include <pcl/segmentation/extract_clusters.h>
#include <pcl/kdtree/kdtree.h>
#include <pcl/filters/voxel_grid.h>
#include <pcl/people/person_cluster.h>
#include <pcl/people/head_based_subcluster.h>
#include <pcl/people/person_classifier.h>

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

    template <typename PointT>
    class GroundBasedPeopleDetectionApp
    {
    public:

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

      GroundBasedPeopleDetectionApp ();

      virtual ~GroundBasedPeopleDetectionApp ();

      void
      setInputCloud (PointCloudPtr& cloud);

      void
      setGround (Eigen::VectorXf& ground_coeffs);

      void
      setSamplingFactor (int sampling_factor);
      
      void
      setVoxelSize (float voxel_size);

      void
      setIntrinsics (Eigen::Matrix3f intrinsics_matrix);

      void
      setClassifier (pcl::people::PersonClassifier<pcl::RGB> person_classifier);

      void
      setSensorPortraitOrientation (bool vertical);

      void
      setHeadCentroid (bool head_centroid);

      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 ();

      Eigen::VectorXf
      getGround ();

      PointCloudPtr
      getNoGroundCloud ();

      void
      extractRGBFromPointCloud (PointCloudPtr input_cloud, pcl::PointCloud<pcl::RGB>::Ptr& output_cloud);

      void
      swapDimensions (pcl::PointCloud<pcl::RGB>::Ptr& cloud);

      bool
      compute (std::vector<pcl::people::PersonCluster<PointT> >& clusters);

    protected:
      int sampling_factor_; 
      
      float voxel_size_;                  
      
      Eigen::VectorXf ground_coeffs_;            
      
      float sqrt_ground_coeffs_;              
      
      PointCloudPtr cloud_;   

      PointCloudPtr no_ground_cloud_;              
      
      pcl::PointCloud<pcl::RGB>::Ptr rgb_image_;      
      
      float max_height_;                  
      
      float min_height_;                  
      
      bool vertical_;                    
      
      bool head_centroid_;    // if true, the person centroid is computed as the centroid of the cluster points belonging to the head (default = true)
                              // if false, the person centroid is computed as the centroid of the whole cluster points 
      int max_points_;                  
      
      int min_points_;                  
      
      bool dimension_limits_set_;              
      
      float heads_minimum_distance_;            
      
      Eigen::Matrix3f intrinsics_matrix_;          
      
      pcl::people::PersonClassifier<pcl::RGB> person_classifier_;  
      
      bool person_classifier_set_flag_;        
    };
  } /* namespace people */
} /* namespace pcl */
#include <pcl/people/impl/ground_based_people_detection_app.hpp>
#endif /* PCL_PEOPLE_GROUND_BASED_PEOPLE_DETECTION_APP_H_ */