height_map_2d.h

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 * height_map_2d.h
 * Created on: Nov 30, 2012
 * Author: Matteo Munaro
 */

#ifndef PCL_PEOPLE_HEIGHT_MAP_2D_H_
#define PCL_PEOPLE_HEIGHT_MAP_2D_H_

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

namespace pcl
{
  namespace people
  {
    template <typename PointT> class HeightMap2D;

    template <typename PointT>
    class HeightMap2D
    {
    public:

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

      HeightMap2D();

      virtual ~HeightMap2D ();

      void
      compute (pcl::people::PersonCluster<PointT>& cluster);

      void
      searchLocalMaxima ();

      void
      filterMaxima ();

      void
      setInputCloud (PointCloudPtr& cloud);

      void
      setGround (Eigen::VectorXf& ground_coeffs);

      void
      setBinSize (float bin_size);

      void
      setMinimumDistanceBetweenMaxima (float minimum_distance_between_maxima);

      void
      setSensorPortraitOrientation (bool vertical);

      std::vector<int>&
      getHeightMap ();

      float
      getBinSize ();

      float
      getMinimumDistanceBetweenMaxima ();

      int&
      getMaximaNumberAfterFiltering ();

      std::vector<int>&
      getMaximaCloudIndicesFiltered ();

    protected:
      Eigen::VectorXf ground_coeffs_;            
      
      float sqrt_ground_coeffs_;              
      
      PointCloudPtr cloud_;                
      
      bool vertical_;                    
      
      std::vector<int> buckets_;              
      
      std::vector<int> buckets_cloud_indices_;      
      
      float bin_size_;                  
      
      int maxima_number_;                  
      
      std::vector<int> maxima_indices_;          
      
      std::vector<int> maxima_cloud_indices_;        
      
      int maxima_number_after_filtering_;          
      
      std::vector<int> maxima_indices_filtered_;      
      
      std::vector<int> maxima_cloud_indices_filtered_;  
      
      float min_dist_between_maxima_;            
    };

  } /* namespace people */
} /* namespace pcl */
#include <pcl/people/impl/height_map_2d.hpp>
#endif /* PCL_PEOPLE_HEIGHT_MAP_2D_H_ */