Object_Detection cleaned up

src/entities.cpp

@@ -43,15 +43,17 @@ void laserscanutils::Object::print() const
     std::endl     << "---------------------------------------------" << std::endl
                   << "---      Object Detected Information      ---" << std::endl
                   << "---------------------------------------------" << std::endl
-                  << "      * Initial Global Point : "        << this->first_       << std::endl
-                  << "      * Final Global Point : "          << this->last_        << std::endl
-                  << "      * Number of Points: "             << this->num_points_  << std::endl
-//                  << "      * Velocity: "       << std::endl
-//                  << "              Linear "  << this->linear_velocity_.transpose()  << "; " <<  std::endl
-//                  << "              Angular " << this->angular_velocity_.transpose() << "; " <<  std::endl
-                  << "      * Associated?: "       << this->associated_<< std::endl
+                  << "      * Initial Global Point : \t"        << this->first_       << std::endl
+                  << "      * Final Global Point : \t"          << this->last_        << std::endl
+                  << "      * Number of Points: \t"             << this->num_points_  << std::endl
+                  << "      * Associated?: \t\t"                << this->associated_<< std::endl
+                  << "      * Structured?: \t\t"                << this->structured_ << std::endl
+                  << "      * Bounding Box Center : \t"         << this->object_center_.transpose()       << std::endl
+                  << "      * Bounding Box Size : \t\t"           << this->size_x_ << " x " << this->size_y_ << std::endl
+                  << "      * Bounding Box Orientation :"     << this->obj_orientation_ << std::endl
+                  << "      * Polyline: "                       << std::endl << "\t\t" << this->polyline_points_ << std::endl
                   << "      * Lines: " << std::endl;
-            //std::cout << "object Line list SIZE: " << this->line_list_.size() << std::endl;
+
             if (this->line_list_.size() >= 1)
             {
                     for (auto it1 = this->line_list_.begin(); it1 != this->line_list_.end(); it1++)

src/entities.h

@@ -61,10 +61,10 @@ namespace laserscanutils
             this->first_ = 0;
             this->last_ = 0;
             this->associated_ = false;
+            this->structured_ = false;
 
             this->id_ = -1;
 
-            this->ref_middle_point_ = {0.0, 0.0, 0.0};
             this->ref_centroid_point_ = {0.0, 0.0, 0.0};
             this->ref_act_point_ = {0.0, 0.0, 0.0};
             this->ref_old_point_ = {0.0, 0.0, 0.0};
@@ -73,35 +73,32 @@ namespace laserscanutils
             this->min_y_ = 1000.0;
             this->max_x_ = -1000.0;
             this->max_y_ = -1000.0;
-            this->angle_ = 0.0;
-            this->orientation_ = 0.0;
+            this->obj_orientation_ = 0.0;
             this->object_center_ << 0.0, 0.0;
             this->size_x_ = 0.0;
             this->size_y_ = 0.0;
-//            this->polyline_points_ << 0.0, 0.0, 0.0, 0.0, 0.0,
-//                                      0.0, 0.0, 0.0, 0.0, 0.0;
 
 
             this->ref_type_ = -1;
-            this->ref_position_ = -1;
+            this->ref_position_ = -1;       // TBR??? Position of the corner/line in the respective list...
+            this->asso_to_prev_obj_in_pos_ = -1;       // TBR??? Position of the corner/line in the respective list...
 
         }
 
         bool associated_;
+        bool structured_;
         unsigned int num_points_;   // number of points of the cluster
         unsigned int first_;        //index of the Homogeneous Matrix column for the first point used (GLOBAL)
         unsigned int last_;         //index of the Homogeneous Matrix column for the last point used (GLOBAL)
         std::list<laserscanutils::Line> line_list_;        // list of lines contained in the cluster (Refs Points are LOCAL)
         std::list<laserscanutils::Corner> corner_list_;    // list of corners contained in the cluster (Refs Points are LOCAL)
 
-
-//        Eigen::Vector2f linear_velocity_;   // WRT??
-//        Eigen::Vector2f angular_velocity_;  // WRT??
-
         ScalarT id_;        // Id of the object. -1 if unknown or MOBILE; other number if pre-associated.
 
+        unsigned int asso_to_prev_obj_in_pos_;       // For tracking help, this object has been associated to the object in position
+                                                // "asso_to_obj_in_pos_" from the previous scan. (-1 if not)
+
         // Description
-        Eigen::Vector3s ref_middle_point_;
         Eigen::Vector3s ref_centroid_point_;
         Eigen::Vector3s ref_act_point_;
         Eigen::Vector3s ref_old_point_;
@@ -110,25 +107,20 @@ namespace laserscanutils
         float min_y_;
         float max_x_;
         float max_y_;
-        float angle_;
-        float orientation_;
+        float obj_orientation_;
         float size_x_;
         float size_y_;
         Eigen::Vector2s object_center_;
         Eigen::MatrixXs polyline_points_;  //<float,2,5>
 
-
         int ref_type_;      // Type of the reference. 8 = corner;   4 = init_line ; 2 = end_line;   1 = centroid. -1 = unkonwn;
-        int ref_position_;  // The position of the referenced corner (or line) in its corresponding list;
+        int ref_position_;  // [TODO] The position of the referenced corner (or line) in its corresponding list;
 
-        // TODO: Reference Point
-        // TODO: Bounding Box
 
         void print() const;
         float getArea();
         float getPerimeter();
 
-
     };
 }
 #endif