Point Cloud Library (PCL)
1.11.1-dev
people
include
pcl
gpu
people
label_blob2.h
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/*
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* Software License Agreement (BSD License)
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*
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* Point Cloud Library (PCL) - www.pointclouds.org
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* Copyright (c) 2010-2012, Willow Garage, Inc.
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*
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of Willow Garage, Inc. nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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* $Id: $
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* @author: Koen Buys
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* @file blob2.h
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* @brief This file contains the Blob2 structure and the inline <<-operator for it
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*/
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#pragma once
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#include <pcl/PointIndices.h>
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#include <pcl/gpu/people/label_common.h>
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namespace
pcl
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{
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namespace
gpu
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{
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namespace
people
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{
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/**
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* @brief This structure contains all parameters to describe blobs and their parent/child relations
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* @todo: clean this out in the end, perhaps place the children in a separate struct
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*/
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struct
Blob2
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{
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int
id
;
// specific identification number of this blob
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part_t
label
;
// labels which part this blob is, defined in common.
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int
lid
;
// label id, which number of this type of part is this
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Eigen::Vector4f
mean
;
// mean in xyz
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Eigen::Matrix3f
cov
;
// covariance in 3x3 matrix
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Eigen::Vector3f
eigenval
;
// eigenvalue of blob
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Eigen::Matrix3f
eigenvect
;
// eigenvector of blob
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//These variables are added in order to be able to build trees with them
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int
child_id
[
MAX_CHILD
];
// id of the best found child
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int
child_lid
[
MAX_CHILD
];
// lid of the best found child
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float
child_dist
[
MAX_CHILD
];
// result of evaluation function of this child
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char
child_label
[
MAX_CHILD
];
// makes displaying the tree easier
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pcl::PointIndices
indices
;
// The indices of the pointcloud
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Eigen::Vector4f
min
;
// The min of the bounding box
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Eigen::Vector4f
max
;
// The max of the bounding box
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};
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inline
std::ostream&
operator <<
(std::ostream& os,
const
Blob2
& b)
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{
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os <<
" Blob2 id "
<< b.
id
<<
" label "
<< b.
label
<<
" lid "
<< b.
lid
<< std::endl;
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os <<
" mean "
<< b.
mean
(0) <<
" , "
<< b.
mean
(1) <<
" , "
<< b.
mean
(2) <<
" , "
<< b.
mean
(3) << std::endl;
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os <<
" cov "
<< std::endl << b.
cov
<< std::endl;
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os <<
" eigenval "
<< b.
eigenval
(0) <<
" , "
<< b.
eigenval
(1) <<
" , "
<< b.
eigenval
(2) << std::endl;
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os <<
" eigenvect "
<< std::endl << b.
eigenvect
<< std::endl;
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os <<
" min "
<< b.
min
(0) <<
" , "
<< b.
min
(1) <<
" , "
<< b.
min
(2) <<
" , "
<< b.
min
(3) << std::endl;
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os <<
" max "
<< b.
max
(0) <<
" , "
<< b.
max
(1) <<
" , "
<< b.
max
(2) <<
" , "
<< b.
max
(3) << std::endl;
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os <<
" indices length "
<< b.
indices
.
indices
.size() << std::endl;
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for
(
int
i = 0; i <
MAX_CHILD
; i++)
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{
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os <<
" child "
<< i <<
" id "
<< b.
child_id
[i] <<
" lid "
<< b.
child_lid
[i] <<
" dist "
<< b.
child_dist
[i] <<
" label "
<< b.
child_label
[i] << std::endl;
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}
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return
(os);
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}
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}
// end namespace people
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}
// end namespace gpu
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}
// end namespace pcl
pcl
Definition:
convolution.h:46
pcl::gpu::people::Blob2::child_lid
int child_lid[MAX_CHILD]
Definition:
label_blob2.h:70
pcl::gpu::people::part_t
part_t
Our code is forseen to use maximal use 32 labels.
Definition:
label_common.h:75
pcl::PointIndices::indices
Indices indices
Definition:
PointIndices.h:21
pcl::gpu::people::Blob2::child_id
int child_id[MAX_CHILD]
Definition:
label_blob2.h:69
pcl::gpu::people::Blob2::min
Eigen::Vector4f min
Definition:
label_blob2.h:75
pcl::gpu::people::Blob2::child_label
char child_label[MAX_CHILD]
Definition:
label_blob2.h:72
pcl::gpu::people::Blob2::child_dist
float child_dist[MAX_CHILD]
Definition:
label_blob2.h:71
pcl::gpu::people::Blob2::max
Eigen::Vector4f max
Definition:
label_blob2.h:76
pcl::gpu::people::Blob2
This structure contains all parameters to describe blobs and their parent/child relations.
Definition:
label_blob2.h:57
pcl::gpu::people::Blob2::label
part_t label
Definition:
label_blob2.h:60
pcl::gpu::people::operator<<
std::ostream & operator<<(std::ostream &os, const Blob2 &b)
Definition:
label_blob2.h:79
pcl::gpu::people::Blob2::mean
Eigen::Vector4f mean
Definition:
label_blob2.h:63
pcl::gpu::people::Blob2::cov
Eigen::Matrix3f cov
Definition:
label_blob2.h:64
pcl::gpu::people::MAX_CHILD
@ MAX_CHILD
Definition:
label_common.h:61
pcl::PointIndices
Definition:
PointIndices.h:11
pcl::gpu::people::Blob2::eigenvect
Eigen::Matrix3f eigenvect
Definition:
label_blob2.h:66
pcl::gpu::people::Blob2::eigenval
Eigen::Vector3f eigenval
Definition:
label_blob2.h:65
pcl::gpu::people::Blob2::indices
pcl::PointIndices indices
Definition:
label_blob2.h:74
pcl::gpu::people::Blob2::id
int id
Definition:
label_blob2.h:59
pcl::gpu::people::Blob2::lid
int lid
Definition:
label_blob2.h:61