person_cluster.h

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

#ifndef PCL_PEOPLE_PERSON_CLUSTER_H_
#define PCL_PEOPLE_PERSON_CLUSTER_H_

#include <pcl/point_types.h>
#include <pcl/visualization/pcl_visualizer.h>

namespace pcl
{
  namespace people
  {
    template <typename PointT> class PersonCluster;
    template <typename PointT> bool operator<(const PersonCluster<PointT>& c1, const PersonCluster<PointT>& c2);

    template <typename PointT>
    class PersonCluster
    {
    protected:

      bool head_centroid_;

      float min_x_;
      float min_y_;
      float min_z_;

      float max_x_;
      float max_y_;
      float max_z_;

      float sum_x_;
      float sum_y_;
      float sum_z_;

      int n_;

      float c_x_;
      float c_y_;
      float c_z_;

      float height_;

      float distance_;
      float angle_;

      float angle_max_;
      float angle_min_;
      
      Eigen::Vector3f top_;
      Eigen::Vector3f bottom_;
      Eigen::Vector3f center_;
      
      Eigen::Vector3f ttop_;
      Eigen::Vector3f tbottom_;
      Eigen::Vector3f tcenter_;

      Eigen::Vector3f min_;
      Eigen::Vector3f max_;

      pcl::PointIndices points_indices_;

      bool vertical_;
      float person_confidence_;

    public:

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

      PersonCluster (
          const PointCloudPtr& input_cloud,
          const pcl::PointIndices& indices,
          const Eigen::VectorXf& ground_coeffs,
          float sqrt_ground_coeffs,
          bool head_centroid,
          bool vertical = false);

      virtual ~PersonCluster ();

      float
      getHeight ();

      float
      updateHeight (const Eigen::VectorXf& ground_coeffs);

      float
      updateHeight (const Eigen::VectorXf& ground_coeffs, float sqrt_ground_coeffs);

      float
      getDistance ();

      float
      getAngle ();

      float
      getAngleMin ();

      float
      getAngleMax ();

      pcl::PointIndices&
      getIndices ();

      Eigen::Vector3f&
      getTTop ();

      Eigen::Vector3f&
      getTBottom ();

      Eigen::Vector3f&
      getTCenter ();

      Eigen::Vector3f&
      getTop ();

      Eigen::Vector3f&
      getBottom ();

      Eigen::Vector3f&
      getCenter ();  

      //Eigen::Vector3f& getTMax();

      Eigen::Vector3f&
      getMin ();

      Eigen::Vector3f&
      getMax ();

      float
      getPersonConfidence ();

      int
      getNumberPoints ();

      void
      setHeight (float height);

      void
      setPersonConfidence (float confidence);

      void
      drawTBoundingBox (pcl::visualization::PCLVisualizer& viewer, int person_number);

      friend bool operator< <>(const PersonCluster<PointT>& c1, const PersonCluster<PointT>& c2);

    protected:

      void init(
          const PointCloudPtr& input_cloud,
          const pcl::PointIndices& indices,
          const Eigen::VectorXf& ground_coeffs,
          float sqrt_ground_coeffs,
          bool head_centroid,
          bool vertical);

    };
  } /* namespace people */
} /* namespace pcl */
#include <pcl/people/impl/person_cluster.hpp>
#endif /* PCL_PEOPLE_PERSON_CLUSTER_H_ */