changes on the object structure

src/entities.cpp

@@ -15,6 +15,13 @@ void laserscanutils::Line::print() const
               << "   number of points: " << np_ << std::endl;
 }
 
+float laserscanutils::Line::length()
+{
+    return(std::sqrt( std::pow( (this->point_last_(0)-this->point_first_(0)), 2 ) + std::pow( (this->point_last_(1)-this->point_first_(1)), 2)   )  );
+}
+
+
+
 void laserscanutils::Corner::print() const
 {
     std::cout << "Corner Parameters : " << std::endl 
@@ -73,3 +80,13 @@ void laserscanutils::Object::print() const
 
 
 }
+
+float laserscanutils::Object::getArea()
+{
+    return this->size_x_*this->size_y_;
+}
+
+float laserscanutils::Object::getPerimeter()
+{
+    return ( (this->size_x_*2) + (this->size_y_*2) );
+}

src/entities.h

@@ -24,6 +24,7 @@ namespace laserscanutils
 
         //just a print method
         void print() const;
+        float length();
     };
     
     struct Corner 
@@ -68,6 +69,19 @@ namespace laserscanutils
             this->ref_act_point_ = {0.0, 0.0, 0.0};
             this->ref_old_point_ = {0.0, 0.0, 0.0};
 
+            this->min_x_ = 1000.0;
+            this->min_y_ = 1000.0;
+            this->max_x_ = -1000.0;
+            this->max_y_ = -1000.0;
+            this->angle_ = 0.0;
+            this->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;
 
@@ -84,15 +98,26 @@ namespace laserscanutils
 //        Eigen::Vector2f linear_velocity_;   // WRT??
 //        Eigen::Vector2f angular_velocity_;  // WRT??
 
-        ScalarT id_;        // Id of the object. -1 if unknown
+        ScalarT id_;        // Id of the object. -1 if unknown or MOBILE; other number if pre-associated.
 
         // Description
-        ScalarT area_;
         Eigen::Vector3s ref_middle_point_;
         Eigen::Vector3s ref_centroid_point_;
         Eigen::Vector3s ref_act_point_;
         Eigen::Vector3s ref_old_point_;
 
+        float min_x_;
+        float min_y_;
+        float max_x_;
+        float max_y_;
+        float angle_;
+        float 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;
 
@@ -100,6 +125,8 @@ namespace laserscanutils
         // TODO: Bounding Box
 
         void print() const;
+        float getArea();
+        float getPerimeter();
 
 
     };

src/object_detector.h

@@ -65,7 +65,7 @@ namespace laserscanutils
 
         unsigned int scan_total_points_;            //Total number of points in the raw scan
         unsigned int filtered_total_points_;        //Total number of valid points after pre filter
-        unsigned int number_of_clusters_;         //Total number of clusters found in the scan
+        unsigned int number_of_clusters_;         //Total number of clusters found in the scan (valid and not valid)
         unsigned int num_points_in_clusters_;     // Total number of points in the clusters
         unsigned int number_of_valid_clusters_;   //Total number of valid clusters found in the scan
         unsigned int number_of_global_scan_;      //Total number scan till now
@@ -204,44 +204,40 @@ namespace laserscanutils
 
 
 
-//    /** \brief Calculate Features
-//    *
-//    * Calculate middle point, centroid, length, with, area...
-//    *
-//    * \param _alg_params is the structure of algorithm params for the Laser Object Detection Algorithm.
-//    * \param _points is the returned points from the conversion of ranges to homogeneous coordinates
-//    * \param _global_scan_number is the global number of scan processed (to be used as header id)
-//    * \param _scan_processed is the structure where all the information of elements in a scan is stored
-//    *
-//    **/
-//    void extractFeaturesInClusters(const Eigen::MatrixXs & _points,
-//                                   laserscanutils::LaserScanProcessed & _scan_processed);
+    /** \brief Calculate Features
+    *
+    * Calculate middle point, centroid, length, with, area...
+    *
+    * \param _alg_params is the structure of algorithm params for the Laser Object Detection Algorithm.
+    * \param _points is the returned points from the conversion of ranges to homogeneous coordinates
+    * \param _global_scan_number is the global number of scan processed (to be used as header id)
+    * \param _scan_processed is the structure where all the information of elements in a scan is stored
+    *
+    **/
+    void extractFeaturesInObject(const Eigen::MatrixXs & _points,
+                                  Object &_object);
 
 
 
 
-    /** \brief Performs the corner association from two objects list
+    /** \brief Performs the association from two objects list
     *
-    * From a list of objects of both previous and actual scans, computes the distances from all corners and find the
+    * From a list of objects of both previous and actual scans, computes the distances and find the
     * closest (euclidean dist threshold) ones as associated.
     *
-    * \param _prev_objects_list is the objects list from the previous scan
-    * \param _act_objects_list is the objects list from the actual scan
-    * \param _asso_threshold is the euclidean distance threshold for associate corners.
-    * \param _obj_asso_results is the vector with the association values! Binary [corner | l_angle | l_init_pt | l_final_pt ].
     *
     **/
-    // Old creates a vector but needs to be checked the structure...really is the solution? cross things....
-    void associateObjectsPrim(std::list<laserscanutils::Object> & _prev_objects_list,
-                          std::list<laserscanutils::Object> & _act_objects_list,
-                          float _threshold, float _angle_thr,
-                          std::vector<int> &_obj_asso_results);
-
-
     void associateObjects(std::list<laserscanutils::Object> & _prev_objects_list,
                           std::list<laserscanutils::Object> & _act_objects_list,
                           float _corner_threshold, float _angle_thr, float _line_ext_threshold);
 
+
+
+//    /** \brief Fullfils the bounding boxes and rest of parameters on the detections.
+//    *
+//    **/
+//    void objectsBB(laserscanutils::LaserScanProcessed & _act_scan);
+
 }