Point Cloud Library (PCL) 1.15.0
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label_blob2.h
1/*
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35 *
36 * $Id: $
37 * @author: Koen Buys
38 * @file blob2.h
39 * @brief This file contains the Blob2 structure and the inline <<-operator for it
40 */
41
42#pragma once
43
44#include <pcl/PointIndices.h>
45#include <pcl/gpu/people/label_common.h>
46
47namespace pcl
48{
49 namespace gpu
50 {
51 namespace people
52 {
53 /**
54 * @brief This structure contains all parameters to describe blobs and their parent/child relations
55 * @todo: clean this out in the end, perhaps place the children in a separate struct
56 */
57 struct Blob2
58 {
59 int id; // specific identification number of this blob
60 part_t label; // labels which part this blob is, defined in common.
61 int lid; // label id, which number of this type of part is this
62
63 Eigen::Vector4f mean; // mean in xyz
64 Eigen::Matrix3f cov; // covariance in 3x3 matrix
65 Eigen::Vector3f eigenval; // eigenvalue of blob
66 Eigen::Matrix3f eigenvect; // eigenvector of blob
67
68 //These variables are added in order to be able to build trees with them
69 int child_id[MAX_CHILD]; // id of the best found child
70 int child_lid[MAX_CHILD]; // lid of the best found child
71 float child_dist[MAX_CHILD]; // result of evaluation function of this child
72 char child_label[MAX_CHILD]; // makes displaying the tree easier
73
74 pcl::PointIndices indices; // The indices of the pointcloud
75 Eigen::Vector4f min; // The min of the bounding box
76 Eigen::Vector4f max; // The max of the bounding box
77 };
78
79 inline std::ostream& operator << (std::ostream& os, const Blob2& b)
80 {
81 os << " Blob2 id " << b.id << " label " << b.label << " lid " << b.lid << std::endl;
82 os << " mean " << b.mean(0) << " , " << b.mean(1) << " , " << b.mean(2) << " , " << b.mean(3) << std::endl;
83 os << " cov " << std::endl << b.cov << std::endl;
84 os << " eigenval " << b.eigenval(0) << " , " << b.eigenval(1) << " , " << b.eigenval(2) << std::endl;
85 os << " eigenvect " << std::endl << b.eigenvect << std::endl;
86 os << " min " << b.min(0) << " , " << b.min(1) << " , " << b.min(2) << " , " << b.min(3) << std::endl;
87 os << " max " << b.max(0) << " , " << b.max(1) << " , " << b.max(2) << " , " << b.max(3) << std::endl;
88 os << " indices length " << b.indices.indices.size() << std::endl;
89 for(int i = 0; i < MAX_CHILD; i++)
90 {
91 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;
92 }
93 return (os);
94 }
95 } // end namespace people
96 } // end namespace gpu
97} // end namespace pcl
std::ostream & operator<<(std::ostream &os, const Blob2 &b)
Definition label_blob2.h:79
part_t
Our code is foreseen to use maximal use 32 labels.
This structure contains all parameters to describe blobs and their parent/child relations.
Definition label_blob2.h:58
Eigen::Matrix3f eigenvect
Definition label_blob2.h:66
char child_label[MAX_CHILD]
Definition label_blob2.h:72
Eigen::Vector4f mean
Definition label_blob2.h:63
Eigen::Matrix3f cov
Definition label_blob2.h:64
pcl::PointIndices indices
Definition label_blob2.h:74
Eigen::Vector3f eigenval
Definition label_blob2.h:65
Eigen::Vector4f min
Definition label_blob2.h:75
int child_id[MAX_CHILD]
Definition label_blob2.h:69
float child_dist[MAX_CHILD]
Definition label_blob2.h:71
Eigen::Vector4f max
Definition label_blob2.h:76
int child_lid[MAX_CHILD]
Definition label_blob2.h:70