From 1aeb4baaace915f8c0abe36d6bccecc07f69ddf7 Mon Sep 17 00:00:00 2001
From: Corvin-N <corvin@navarro.de>
Date: Thu, 27 Oct 2022 15:12:13 +0200
Subject: [PATCH] Clean up project
---
source/armarx/navigation/human/HumanTracker.cpp | 3 ++-
source/armarx/navigation/human/HumanTracker.h | 4 +---
2 files changed, 3 insertions(+), 4 deletions(-)
diff --git a/source/armarx/navigation/human/HumanTracker.cpp b/source/armarx/navigation/human/HumanTracker.cpp
index b67d489b..689600e2 100644
--- a/source/armarx/navigation/human/HumanTracker.cpp
+++ b/source/armarx/navigation/human/HumanTracker.cpp
@@ -103,6 +103,7 @@ namespace armarx::navigation::human
auto& footprint1 = posDistance.oldHuman->associatedCluster->cluster.points;
auto& footprint2 = posDistance.newCluster->cluster.points;
+ //TODO more efficient by just calculating mean between two circle centers for example
Eigen::Vector2f centerPos;
for (auto& point : footprint1)
{
@@ -356,6 +357,7 @@ namespace armarx::navigation::human
float
HumanTracker::getClusterSize(Cluster cluster)
{
+ //TODO more effictient by using radius of circle saved in cluster for example
float maxSize = 0;
for (auto it1 = cluster.points.begin(); it1 != cluster.points.end();)
{
@@ -363,7 +365,6 @@ namespace armarx::navigation::human
for (auto it2 = it1 + 1; it2 != cluster.points.end();)
{
auto& point2 = *it2;
- //TODO does subtraction work for vectors like this?
maxSize = std::max(maxSize, (point2 - point1).norm());
}
}
diff --git a/source/armarx/navigation/human/HumanTracker.h b/source/armarx/navigation/human/HumanTracker.h
index ab1ac283..b31ae524 100644
--- a/source/armarx/navigation/human/HumanTracker.h
+++ b/source/armarx/navigation/human/HumanTracker.h
@@ -36,11 +36,9 @@
namespace armarx::navigation::human
{
- using T = double;
- using Vector = Eigen::Matrix<T, 2, 1>;
- using SystemModelT = kalman_filter::SystemModelSO2xR2<T>;
using Cluster = armem::vision::LaserScannerFeature;
+
/**
* @brief The HumanTracker class can be used to track and filter multiple humans. It hides
* implementation detail on how new detected humans are associated to the old, already tracked
--
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