KLDAdaptiveParticleFilterTracker tracks the PointCloud which is given by setReferenceCloud within the measured PointCloud using particle filter method. More...

#include <pcl/tracking/kld_adaptive_particle_filter.h>

Inheritance diagram for pcl::tracking::KLDAdaptiveParticleFilterTracker< PointInT, StateT >:

Collaboration diagram for pcl::tracking::KLDAdaptiveParticleFilterTracker< PointInT, StateT >:

Public Types
using	BaseClass = Tracker< PointInT, StateT >

using	Ptr = shared_ptr< KLDAdaptiveParticleFilterTracker< PointInT, StateT > >

using	ConstPtr = shared_ptr< const KLDAdaptiveParticleFilterTracker< PointInT, StateT > >

using	PointCloudIn = typename Tracker< PointInT, StateT >::PointCloudIn

using	PointCloudInPtr = typename PointCloudIn::Ptr

using	PointCloudInConstPtr = typename PointCloudIn::ConstPtr

using	PointCloudState = typename Tracker< PointInT, StateT >::PointCloudState

using	PointCloudStatePtr = typename PointCloudState::Ptr

using	PointCloudStateConstPtr = typename PointCloudState::ConstPtr

using	Coherence = PointCoherence< PointInT >

using	CoherencePtr = typename Coherence::Ptr

using	CoherenceConstPtr = typename Coherence::ConstPtr

using	CloudCoherence = PointCloudCoherence< PointInT >

using	CloudCoherencePtr = typename CloudCoherence::Ptr

using	CloudCoherenceConstPtr = typename CloudCoherence::ConstPtr

Public Types inherited from pcl::tracking::ParticleFilterTracker< PointInT, StateT >
using	Ptr = shared_ptr< ParticleFilterTracker< PointInT, StateT > >

using	ConstPtr = shared_ptr< const ParticleFilterTracker< PointInT, StateT > >

using	BaseClass = Tracker< PointInT, StateT >

using	PointCloudIn = typename Tracker< PointInT, StateT >::PointCloudIn

using	PointCloudInPtr = typename PointCloudIn::Ptr

using	PointCloudInConstPtr = typename PointCloudIn::ConstPtr

using	PointCloudState = typename Tracker< PointInT, StateT >::PointCloudState

using	PointCloudStatePtr = typename PointCloudState::Ptr

using	PointCloudStateConstPtr = typename PointCloudState::ConstPtr

using	Coherence = PointCoherence< PointInT >

using	CoherencePtr = typename Coherence::Ptr

using	CoherenceConstPtr = typename Coherence::ConstPtr

using	CloudCoherence = PointCloudCoherence< PointInT >

using	CloudCoherencePtr = typename CloudCoherence::Ptr

using	CloudCoherenceConstPtr = typename CloudCoherence::ConstPtr

Public Types inherited from pcl::tracking::Tracker< PointInT, StateT >
using	BaseClass = PCLBase< PointInT >

using	Ptr = shared_ptr< Tracker< PointInT, StateT > >

using	ConstPtr = shared_ptr< const Tracker< PointInT, StateT > >

using	SearchPtr = typename pcl::search::Search< PointInT >::Ptr

using	SearchConstPtr = typename pcl::search::Search< PointInT >::ConstPtr

using	PointCloudIn = pcl::PointCloud< PointInT >

using	PointCloudInPtr = typename PointCloudIn::Ptr

using	PointCloudInConstPtr = typename PointCloudIn::ConstPtr

using	PointCloudState = pcl::PointCloud< StateT >

using	PointCloudStatePtr = typename PointCloudState::Ptr

using	PointCloudStateConstPtr = typename PointCloudState::ConstPtr

Public Types inherited from pcl::PCLBase< PointInT >
using	PointCloud = pcl::PointCloud< PointInT >

using	PointCloudPtr = typename PointCloud::Ptr

using	PointCloudConstPtr = typename PointCloud::ConstPtr

using	PointIndicesPtr = PointIndices::Ptr

using	PointIndicesConstPtr = PointIndices::ConstPtr

Public Member Functions
	KLDAdaptiveParticleFilterTracker ()
	Empty constructor. More...

void	setBinSize (const StateT &bin_size)
	set the bin size. More...

StateT	getBinSize () const
	get the bin size. More...

void	setMaximumParticleNum (unsigned int nr)
	set the maximum number of the particles. More...

unsigned int	getMaximumParticleNum () const
	get the maximum number of the particles. More...

void	setEpsilon (double eps)
	set epsilon to be used to calc K-L boundary. More...

double	getEpsilon () const
	get epsilon to be used to calc K-L boundary. More...

void	setDelta (double delta)
	set delta to be used in chi-squared distribution. More...

double	getDelta () const
	get delta to be used in chi-squared distribution. More...

Public Member Functions inherited from pcl::tracking::ParticleFilterTracker< PointInT, StateT >
	ParticleFilterTracker ()
	Empty constructor. More...

void	setIterationNum (const int iteration_num)
	Set the number of iteration. More...

int	getIterationNum () const
	Get the number of iteration. More...

void	setParticleNum (const int particle_num)
	Set the number of the particles. More...

int	getParticleNum () const
	Get the number of the particles. More...

void	setReferenceCloud (const PointCloudInConstPtr &ref)
	Set a pointer to a reference dataset to be tracked. More...

PointCloudInConstPtr const	getReferenceCloud ()
	Get a pointer to a reference dataset to be tracked. More...

void	setCloudCoherence (const CloudCoherencePtr &coherence)
	Set the PointCloudCoherence as likelihood. More...

CloudCoherencePtr	getCloudCoherence () const
	Get the PointCloudCoherence to compute likelihood. More...

void	setStepNoiseCovariance (const std::vector< double > &step_noise_covariance)
	Set the covariance of step noise. More...

void	setInitialNoiseCovariance (const std::vector< double > &initial_noise_covariance)
	Set the covariance of the initial noise. More...

void	setInitialNoiseMean (const std::vector< double > &initial_noise_mean)
	Set the mean of the initial noise. More...

void	setResampleLikelihoodThr (const double resample_likelihood_thr)
	Set the threshold to re-initialize the particles. More...

void	setOcclusionAngleThe (const double occlusion_angle_thr)
	Set the threshold of angle to be considered occlusion (default: pi/2). More...

void	setMinIndices (const int min_indices)
	Set the minimum number of indices (default: 1). More...

void	setTrans (const Eigen::Affine3f &trans)
	Set the transformation from the world coordinates to the frame of the particles. More...

Eigen::Affine3f	getTrans () const
	Get the transformation from the world coordinates to the frame of the particles. More...

StateT	getResult () const override
	Get an instance of the result of tracking. More...

Eigen::Affine3f	toEigenMatrix (const StateT &particle)
	Convert a state to affine transformation from the world coordinates frame. More...

PointCloudStatePtr	getParticles () const
	Get a pointer to a pointcloud of the particles. More...

double	normalizeParticleWeight (double w, double w_min, double w_max)
	Normalize the weight of a particle using $std::exp(1- alpha ( w - w_{min}) / (w_max - w_min))$ . More...

void	setAlpha (double alpha)
	Set the value of alpha. More...

double	getAlpha ()
	Get the value of alpha. More...

void	setUseNormal (bool use_normal)
	Set the value of use_normal_. More...

bool	getUseNormal ()
	Get the value of use_normal_. More...

void	setUseChangeDetector (bool use_change_detector)
	Set the value of use_change_detector_. More...

bool	getUseChangeDetector ()
	Get the value of use_change_detector_. More...

void	setMotionRatio (double motion_ratio)
	Set the motion ratio. More...

double	getMotionRatio ()
	Get the motion ratio. More...

void	setIntervalOfChangeDetection (unsigned int change_detector_interval)
	Set the number of interval frames to run change detection. More...

unsigned int	getIntervalOfChangeDetection ()
	Get the number of interval frames to run change detection. More...

void	setMinPointsOfChangeDetection (unsigned int change_detector_filter)
	Set the minimum amount of points required within leaf node to become serialized in change detection. More...

void	setResolutionOfChangeDetection (double resolution)
	Set the resolution of change detection. More...

double	getResolutionOfChangeDetection ()
	Get the resolution of change detection. More...

unsigned int	getMinPointsOfChangeDetection ()
	Get the minimum amount of points required within leaf node to become serialized in change detection. More...

double	getFitRatio () const
	Get the adjustment ratio. More...

virtual void	resetTracking ()
	Reset the particles to restart tracking. More...

Public Member Functions inherited from pcl::tracking::Tracker< PointInT, StateT >
	Tracker ()
	Empty constructor. More...

void	compute ()
	Base method for tracking for all points given in <setInputCloud (), setIndices ()> using the indices in setIndices () More...

Public Member Functions inherited from pcl::PCLBase< PointInT >
	PCLBase ()
	Empty constructor. More...

	PCLBase (const PCLBase &base)
	Copy constructor. More...

virtual	~PCLBase ()=default
	Destructor. More...

virtual void	setInputCloud (const PointCloudConstPtr &cloud)
	Provide a pointer to the input dataset. More...

PointCloudConstPtr const	getInputCloud () const
	Get a pointer to the input point cloud dataset. More...

virtual void	setIndices (const IndicesPtr &indices)
	Provide a pointer to the vector of indices that represents the input data. More...

virtual void	setIndices (const IndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data. More...

virtual void	setIndices (const PointIndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data. More...

virtual void	setIndices (std::size_t row_start, std::size_t col_start, std::size_t nb_rows, std::size_t nb_cols)
	Set the indices for the points laying within an interest region of the point cloud. More...

IndicesPtr	getIndices ()
	Get a pointer to the vector of indices used. More...

IndicesConstPtr const	getIndices () const
	Get a pointer to the vector of indices used. More...

const PointInT &	operator[] (std::size_t pos) const
	Override PointCloud operator[] to shorten code. More...

Protected Member Functions
virtual bool	equalBin (const std::vector< int > &a, const std::vector< int > &b)
	return true if the two bins are equal. More...

double	normalQuantile (double u)
	return upper quantile of standard normal distribution. More...

virtual double	calcKLBound (int k)
	calculate K-L boundary. More...

virtual bool	insertIntoBins (std::vector< int > &&new_bin, std::vector< std::vector< int >> &bins)
	insert a bin into the set of the bins. More...

bool	initCompute () override
	This method should get called before starting the actual computation. More...

void	resample () override
	resampling phase of particle filter method. More...

Protected Member Functions inherited from pcl::tracking::ParticleFilterTracker< PointInT, StateT >
void	calcBoundingBox (double &x_min, double &x_max, double &y_min, double &y_max, double &z_min, double &z_max)
	Compute the parameters for the bounding box of hypothesis pointclouds. More...

void	cropInputPointCloud (const PointCloudInConstPtr &cloud, PointCloudIn &output)
	Crop the pointcloud by the bounding box calculated from hypothesis and the reference pointcloud. More...

void	computeTransformedPointCloud (const StateT &hypothesis, pcl::Indices &indices, PointCloudIn &cloud)
	Compute a reference pointcloud transformed to the pose that hypothesis represents. More...

void	computeTransformedPointCloudWithNormal (const StateT &hypothesis, pcl::Indices &indices, PointCloudIn &cloud)
	Compute a reference pointcloud transformed to the pose that hypothesis represents and calculate indices taking occlusion into account. More...

void	computeTransformedPointCloudWithoutNormal (const StateT &hypothesis, PointCloudIn &cloud)
	Compute a reference pointcloud transformed to the pose that hypothesis represents and calculate indices without taking occlusion into account. More...

bool	initCompute () override
	This method should get called before starting the actual computation. More...

virtual void	weight ()
	Weighting phase of particle filter method. More...

virtual void	update ()
	Calculate the weighted mean of the particles and set it as the result. More...

virtual void	normalizeWeight ()
	Normalize the weights of all the particels. More...

void	initParticles (bool reset)
	Initialize the particles. More...

void	computeTracking () override
	Track the pointcloud using particle filter method. More...

int	sampleWithReplacement (const std::vector< int > &a, const std::vector< double > &q)
	Implementation of "sample with replacement" using Walker's alias method. More...

void	genAliasTable (std::vector< int > &a, std::vector< double > &q, const PointCloudStateConstPtr &particles)
	Generate the tables for walker's alias method. More...

void	resampleWithReplacement ()
	Resampling the particle with replacement. More...

void	resampleDeterministic ()
	Resampling the particle in deterministic way. More...

bool	testChangeDetection (const PointCloudInConstPtr &input)
	Run change detection and return true if there is a change. More...

Protected Member Functions inherited from pcl::tracking::Tracker< PointInT, StateT >
const std::string &	getClassName () const
	Get a string representation of the name of this class. More...

void	setSearchMethod (const SearchPtr &search)
	Provide a pointer to a dataset to add additional information to estimate the features for every point in the input dataset. More...

SearchPtr	getSearchMethod ()
	Get a pointer to the point cloud dataset. More...

Protected Member Functions inherited from pcl::PCLBase< PointInT >
bool	initCompute ()
	This method should get called before starting the actual computation. More...

bool	deinitCompute ()
	This method should get called after finishing the actual computation. More...

Protected Attributes
unsigned int	maximum_particle_number_ {0}
	the maximum number of the particles. More...

double	epsilon_ {0.0}
	error between K-L distance and MLE More...

double	delta_ {0.99}
	probability of distance between K-L distance and MLE is less than epsilon_ More...

StateT	bin_size_
	the size of a bin. More...

Protected Attributes inherited from pcl::tracking::ParticleFilterTracker< PointInT, StateT >
int	iteration_num_ {1}
	The number of iteration of particlefilter. More...

int	particle_num_ {0}
	The number of the particles. More...

int	min_indices_ {1}
	The minimum number of points which the hypothesis should have. More...

double	fit_ratio_ {0.0}
	Adjustment of the particle filter. More...

PointCloudInConstPtr	ref_ {nullptr}
	A pointer to reference point cloud. More...

PointCloudStatePtr	particles_ {nullptr}
	A pointer to the particles More...

CloudCoherencePtr	coherence_ {nullptr}
	A pointer to PointCloudCoherence. More...

std::vector< double >	step_noise_covariance_ {}
	The diagonal elements of covariance matrix of the step noise. More...

std::vector< double >	initial_noise_covariance_ {}
	The diagonal elements of covariance matrix of the initial noise. More...

std::vector< double >	initial_noise_mean_ {}
	The mean values of initial noise. More...

double	resample_likelihood_thr_ {0.0}
	The threshold for the particles to be re-initialized. More...

double	occlusion_angle_thr_ {M_PI / 2.0}
	The threshold for the points to be considered as occluded. More...

double	alpha_ {15.0}
	The weight to be used in normalization of the weights of the particles. More...

StateT	representative_state_
	The result of tracking. More...

Eigen::Affine3f	trans_
	An affine transformation from the world coordinates frame to the origin of the particles. More...

bool	use_normal_ {false}
	A flag to use normal or not. More...

StateT	motion_
	Difference between the result in t and t-1. More...

double	motion_ratio_ {0.25}
	Ratio of hypothesis to use motion model. More...

pcl::PassThrough< PointInT >	pass_x_
	Pass through filter to crop the pointclouds within the hypothesis bounding box. More...

pcl::PassThrough< PointInT >	pass_y_
	Pass through filter to crop the pointclouds within the hypothesis bounding box. More...

pcl::PassThrough< PointInT >	pass_z_
	Pass through filter to crop the pointclouds within the hypothesis bounding box. More...

std::vector< PointCloudInPtr >	transed_reference_vector_ {}
	A list of the pointers to pointclouds. More...

pcl::octree::OctreePointCloudChangeDetector< PointInT >::Ptr	change_detector_
	Change detector used as a trigger to track. More...

bool	changed_ {false}
	A flag to be true when change of pointclouds is detected. More...

unsigned int	change_counter_ {0}
	A counter to skip change detection. More...

unsigned int	change_detector_filter_ {10}
	Minimum points in a leaf when calling change detector. More...

unsigned int	change_detector_interval_ {10}
	The number of interval frame to run change detection. More...

double	change_detector_resolution_ {0.01}
	Resolution of change detector. More...

bool	use_change_detector_ {false}
	The flag which will be true if using change detection. More...

Protected Attributes inherited from pcl::tracking::Tracker< PointInT, StateT >
std::string	tracker_name_
	The tracker name. More...

SearchPtr	search_
	A pointer to the spatial search object. More...

Protected Attributes inherited from pcl::PCLBase< PointInT >
PointCloudConstPtr	input_
	The input point cloud dataset. More...

IndicesPtr	indices_
	A pointer to the vector of point indices to use. More...

bool	use_indices_
	Set to true if point indices are used. More...

bool	fake_indices_
	If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud. More...

Detailed Description

template<typename PointInT, typename StateT>
class pcl::tracking::KLDAdaptiveParticleFilterTracker< PointInT, StateT >

KLDAdaptiveParticleFilterTracker tracks the PointCloud which is given by setReferenceCloud within the measured PointCloud using particle filter method.

The number of the particles changes adaptively based on KLD sampling [D. Fox, NIPS-01], [D.Fox, IJRR03].

Author: Ryohei Ueda

Definition at line 18 of file kld_adaptive_particle_filter.h.

Member Typedef Documentation

◆ BaseClass

template<typename PointInT , typename StateT >

using pcl::tracking::KLDAdaptiveParticleFilterTracker< PointInT, StateT >::BaseClass = Tracker<PointInT, StateT>

Definition at line 43 of file kld_adaptive_particle_filter.h.

◆ CloudCoherence

template<typename PointInT , typename StateT >

using pcl::tracking::KLDAdaptiveParticleFilterTracker< PointInT, StateT >::CloudCoherence = PointCloudCoherence<PointInT>

Definition at line 60 of file kld_adaptive_particle_filter.h.

◆ CloudCoherenceConstPtr

template<typename PointInT , typename StateT >

using pcl::tracking::KLDAdaptiveParticleFilterTracker< PointInT, StateT >::CloudCoherenceConstPtr = typename CloudCoherence::ConstPtr

Definition at line 62 of file kld_adaptive_particle_filter.h.

◆ CloudCoherencePtr

template<typename PointInT , typename StateT >

using pcl::tracking::KLDAdaptiveParticleFilterTracker< PointInT, StateT >::CloudCoherencePtr = typename CloudCoherence::Ptr

Definition at line 61 of file kld_adaptive_particle_filter.h.

◆ Coherence

template<typename PointInT , typename StateT >

using pcl::tracking::KLDAdaptiveParticleFilterTracker< PointInT, StateT >::Coherence = PointCoherence<PointInT>

Definition at line 56 of file kld_adaptive_particle_filter.h.

◆ CoherenceConstPtr

template<typename PointInT , typename StateT >

using pcl::tracking::KLDAdaptiveParticleFilterTracker< PointInT, StateT >::CoherenceConstPtr = typename Coherence::ConstPtr

Definition at line 58 of file kld_adaptive_particle_filter.h.

◆ CoherencePtr

template<typename PointInT , typename StateT >

using pcl::tracking::KLDAdaptiveParticleFilterTracker< PointInT, StateT >::CoherencePtr = typename Coherence::Ptr

Definition at line 57 of file kld_adaptive_particle_filter.h.

◆ ConstPtr

template<typename PointInT , typename StateT >

using pcl::tracking::KLDAdaptiveParticleFilterTracker< PointInT, StateT >::ConstPtr = shared_ptr<const KLDAdaptiveParticleFilterTracker<PointInT, StateT> >

Definition at line 46 of file kld_adaptive_particle_filter.h.

◆ PointCloudIn

template<typename PointInT , typename StateT >

using pcl::tracking::KLDAdaptiveParticleFilterTracker< PointInT, StateT >::PointCloudIn = typename Tracker<PointInT, StateT>::PointCloudIn

Definition at line 48 of file kld_adaptive_particle_filter.h.

◆ PointCloudInConstPtr

template<typename PointInT , typename StateT >

using pcl::tracking::KLDAdaptiveParticleFilterTracker< PointInT, StateT >::PointCloudInConstPtr = typename PointCloudIn::ConstPtr

Definition at line 50 of file kld_adaptive_particle_filter.h.

◆ PointCloudInPtr

template<typename PointInT , typename StateT >

using pcl::tracking::KLDAdaptiveParticleFilterTracker< PointInT, StateT >::PointCloudInPtr = typename PointCloudIn::Ptr

Definition at line 49 of file kld_adaptive_particle_filter.h.

◆ PointCloudState

template<typename PointInT , typename StateT >

using pcl::tracking::KLDAdaptiveParticleFilterTracker< PointInT, StateT >::PointCloudState = typename Tracker<PointInT, StateT>::PointCloudState

Definition at line 52 of file kld_adaptive_particle_filter.h.

◆ PointCloudStateConstPtr

template<typename PointInT , typename StateT >

using pcl::tracking::KLDAdaptiveParticleFilterTracker< PointInT, StateT >::PointCloudStateConstPtr = typename PointCloudState::ConstPtr

Definition at line 54 of file kld_adaptive_particle_filter.h.

◆ PointCloudStatePtr

template<typename PointInT , typename StateT >

using pcl::tracking::KLDAdaptiveParticleFilterTracker< PointInT, StateT >::PointCloudStatePtr = typename PointCloudState::Ptr

Definition at line 53 of file kld_adaptive_particle_filter.h.

◆ Ptr

template<typename PointInT , typename StateT >

using pcl::tracking::KLDAdaptiveParticleFilterTracker< PointInT, StateT >::Ptr = shared_ptr<KLDAdaptiveParticleFilterTracker<PointInT, StateT> >

Definition at line 45 of file kld_adaptive_particle_filter.h.

Constructor & Destructor Documentation

◆ KLDAdaptiveParticleFilterTracker()

template<typename PointInT , typename StateT >

pcl::tracking::KLDAdaptiveParticleFilterTracker< PointInT, StateT >::KLDAdaptiveParticleFilterTracker ( )

inline

Empty constructor.

Definition at line 65 of file kld_adaptive_particle_filter.h.

References pcl::tracking::Tracker< PointInT, StateT >::tracker_name_.

Member Function Documentation

◆ calcKLBound()

template<typename PointInT , typename StateT >

virtual double pcl::tracking::KLDAdaptiveParticleFilterTracker< PointInT, StateT >::calcKLBound ( int k )

inlineprotectedvirtual

calculate K-L boundary.

K-L boundary follows 1/2e*chi(k-1, 1-d)^2.

Parameters

[in] k the number of bins and the first parameter of chi distribution.

Definition at line 214 of file kld_adaptive_particle_filter.h.

References pcl::tracking::KLDAdaptiveParticleFilterTracker< PointInT, StateT >::delta_, pcl::tracking::KLDAdaptiveParticleFilterTracker< PointInT, StateT >::epsilon_, and pcl::tracking::KLDAdaptiveParticleFilterTracker< PointInT, StateT >::normalQuantile().

◆ equalBin()

template<typename PointInT , typename StateT >

virtual bool pcl::tracking::KLDAdaptiveParticleFilterTracker< PointInT, StateT >::equalBin	(	const std::vector< int > &	a,
		const std::vector< int > &	b
	)

inlineprotectedvirtual

return true if the two bins are equal.

Parameters

a	index of the bin
b	index of the bin

Definition at line 141 of file kld_adaptive_particle_filter.h.

◆ getBinSize()

template<typename PointInT , typename StateT >

StateT pcl::tracking::KLDAdaptiveParticleFilterTracker< PointInT, StateT >::getBinSize ( ) const

inline

get the bin size.

Definition at line 82 of file kld_adaptive_particle_filter.h.

References pcl::tracking::KLDAdaptiveParticleFilterTracker< PointInT, StateT >::bin_size_.

◆ getDelta()

template<typename PointInT , typename StateT >

double pcl::tracking::KLDAdaptiveParticleFilterTracker< PointInT, StateT >::getDelta ( ) const

inline

get delta to be used in chi-squared distribution.

Definition at line 130 of file kld_adaptive_particle_filter.h.

References pcl::tracking::KLDAdaptiveParticleFilterTracker< PointInT, StateT >::delta_.

◆ getEpsilon()

template<typename PointInT , typename StateT >

double pcl::tracking::KLDAdaptiveParticleFilterTracker< PointInT, StateT >::getEpsilon ( ) const

inline

get epsilon to be used to calc K-L boundary.

Definition at line 114 of file kld_adaptive_particle_filter.h.

References pcl::tracking::KLDAdaptiveParticleFilterTracker< PointInT, StateT >::epsilon_.

◆ getMaximumParticleNum()

template<typename PointInT , typename StateT >

unsigned int pcl::tracking::KLDAdaptiveParticleFilterTracker< PointInT, StateT >::getMaximumParticleNum ( ) const

inline

get the maximum number of the particles.

Definition at line 98 of file kld_adaptive_particle_filter.h.

References pcl::tracking::KLDAdaptiveParticleFilterTracker< PointInT, StateT >::maximum_particle_number_.

◆ initCompute()

template<typename PointInT , typename StateT >

bool pcl::tracking::KLDAdaptiveParticleFilterTracker< PointInT, StateT >::initCompute

overrideprotectedvirtual

This method should get called before starting the actual computation.

Reimplemented from pcl::tracking::Tracker< PointInT, StateT >.

Definition at line 10 of file kld_adaptive_particle_filter.hpp.

◆ insertIntoBins()

template<typename PointInT , typename StateT >

bool pcl::tracking::KLDAdaptiveParticleFilterTracker< PointInT, StateT >::insertIntoBins	(	std::vector< int > &&	new_bin,
		std::vector< std::vector< int >> &	bins
	)

protectedvirtual

insert a bin into the set of the bins.

if that bin is already registered, return false. if not, return true.

Parameters

new_bin	a bin to be inserted.
bins	a set of the bins

Definition at line 38 of file kld_adaptive_particle_filter.hpp.

◆ normalQuantile()

template<typename PointInT , typename StateT >

double pcl::tracking::KLDAdaptiveParticleFilterTracker< PointInT, StateT >::normalQuantile ( double u )

inlineprotected

return upper quantile of standard normal distribution.

Parameters

[in] u ratio of quantile.

Definition at line 154 of file kld_adaptive_particle_filter.h.

Referenced by pcl::tracking::KLDAdaptiveParticleFilterTracker< PointInT, StateT >::calcKLBound().

◆ resample()

template<typename PointInT , typename StateT >

void pcl::tracking::KLDAdaptiveParticleFilterTracker< PointInT, StateT >::resample

overrideprotectedvirtual

resampling phase of particle filter method.

sampling the particles according to the weights calculated in weight method. in particular, "sample with replacement" is achieved by walker's alias method.

Reimplemented from pcl::tracking::ParticleFilterTracker< PointInT, StateT >.

Definition at line 51 of file kld_adaptive_particle_filter.hpp.