\brief Detection represents information about a people detection */
| 52 | { |
| 53 | /** \brief Detection represents information about a people detection */ |
| 54 | class Detection |
| 55 | { |
| 56 | |
| 57 | protected: |
| 58 | /** \brief ROS message containing detection information */ |
| 59 | opt_msgs::Detection detection_msg_; |
| 60 | |
| 61 | /** \brief Detection source which produced the detection */ |
| 62 | open_ptrack::detection::DetectionSource* source_; |
| 63 | |
| 64 | /** \brief Detection centroid in world reference frame */ |
| 65 | Eigen::Vector3d world_centroid_; |
| 66 | |
| 67 | /** \brief Detection bottom point in world reference frame */ |
| 68 | Eigen::Vector3d world_bottom_; |
| 69 | |
| 70 | /** \brief Detection top point in world reference frame */ |
| 71 | Eigen::Vector3d world_top_; |
| 72 | |
| 73 | /** |
| 74 | * \brief Converts a BoundingBox2D message into a cv::Rect. |
| 75 | * |
| 76 | * \param[in] bb The BoundingBox2D to convert. |
| 77 | * |
| 78 | * \return the converted cv::Rect. |
| 79 | */ |
| 80 | cv::Rect |
| 81 | BoundingBox2D2cvRect(const opt_msgs::BoundingBox2D& bb); |
| 82 | |
| 83 | /** |
| 84 | * \brief Converts a BoundingBox2D message into a cv::Rect. |
| 85 | * |
| 86 | * \param[in] bb The BoundingBox2D to convert. |
| 87 | * \param[in] rect The converted cv::Rect. |
| 88 | */ |
| 89 | void |
| 90 | BoundingBox2D2cvRect(const opt_msgs::BoundingBox2D& bb, cv::Rect& rect); |
| 91 | |
| 92 | public: |
| 93 | |
| 94 | /** \brief Constructor. */ |
| 95 | Detection(opt_msgs::Detection detection, open_ptrack::detection::DetectionSource* source); |
| 96 | |
| 97 | /** \brief Destructor. */ |
| 98 | virtual ~Detection(); |
| 99 | |
| 100 | /** |
| 101 | * \brief Returns a pointer to the DetectionSource which generated the detection. |
| 102 | * |
| 103 | * \return a pointer to the DetectionSource which generated the detection. |
| 104 | */ |
| 105 | open_ptrack::detection::DetectionSource* |
| 106 | getSource(); |
| 107 | |
| 108 | /** |
| 109 | * \brief Returns the detection centroid in world reference frame. |
| 110 | * |
| 111 | * \return the detection centroid in world reference frame. |
no outgoing calls
no test coverage detected