| 1 | #ifndef CANDIDATE_H_
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| 2 | #define CANDIDATE_H_
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| 3 |
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| 4 |
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| 5 | /* lib3dv/candidate.h
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| 6 | *
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| 7 | * Copyright (C) 2013 VisLab
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| 8 | *
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| 9 | * This file is part of lib3dv; you can redistribute it and/or modify
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| 10 | * it under the terms of the GNU Lesser General Public License as published by
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| 11 | * the Free Software Foundation; either version 3 of the License, or (at
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| 12 | * your option) any later version.
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| 13 | *
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| 14 | * This program is distributed in the hope that it will be useful, but
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| 15 | * WITHOUT ANY WARRANTY; without even the implied warranty of
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| 16 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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| 17 | * General Public License for more details.
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| 18 | *
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| 19 | * You should have received a copy of the GNU Lesser General Public License
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| 20 | * along with this program; if not, see <http://www.gnu.org/licenses/>.
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| 21 | */
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| 22 |
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| 23 | #include <stdint.h>
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| 24 | #include <lib3dv/point.h>
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| 25 |
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| 26 | namespace lib3dv
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| 27 | {
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| 28 |
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| 29 | /**
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| 30 | * @brief Possible category types.
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| 31 | **/
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| 32 | struct category_type
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| 33 | {
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| 34 | enum types
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| 35 | {
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| 36 | UNKNOWN=0, ///< Unknow category.
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| 37 | PEDESTRIAN, ///< Pedestrian category, blue rectangle in the client display.
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| 38 | CAR, ///< Car category, red rectangle in the client display.
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| 39 | NUM
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| 40 | };
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| 41 | };
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| 42 |
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| 43 | /**
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| 44 | * @brief A candidate detected by the device.
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| 45 | *
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| 46 | * A candidate is defined by a rectangle in the right image coordinate.
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| 47 | */
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| 48 | struct candidate
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| 49 | {
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| 50 | uint32_t m_guid; ///< Unique ID associated with the candidate in the current frame.
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| 51 | uint16_t m_x0; ///< x coordinate of the upper left rectangle corner in the right image.
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| 52 | uint16_t m_y0; ///< y coordinate of the upper left rectangle corner in the right image.
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| 53 | uint16_t m_x1; ///< x coordinate of the bottom right rectangle corner in the right image.
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| 54 | uint16_t m_y1; ///< y coordinate of the bottom right rectangle corner in the right image.
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| 55 | float m_confidence; ///< Confidence of the detection.
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| 56 | point3 m_wp_lb; ///< Candidate world position. The position is relative to the bottom center point of the rectangle.
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| 57 | category_type::types m_category; ///< Candidate Category. @see lib3dv::category_type::types
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| 58 | };
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| 59 | }
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| 60 |
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| 61 |
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| 62 | #endif /* CANDIDATE_H_ */
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