Point Cloud Library (PCL)  1.14.1-dev
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pcl::tracking::ParticleFilterOMPTracker< PointInT, StateT > Class Template Reference

ParticleFilterOMPTracker tracks the PointCloud which is given by setReferenceCloud within the measured PointCloud using particle filter method in parallel, using the OpenMP standard. More...

#include <pcl/tracking/particle_filter_omp.h>

+ Inheritance diagram for pcl::tracking::ParticleFilterOMPTracker< PointInT, StateT >:
+ Collaboration diagram for pcl::tracking::ParticleFilterOMPTracker< PointInT, StateT >:

Public Types

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::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

 ParticleFilterOMPTracker (unsigned int nr_threads=0)
 Initialize the scheduler and set the number of threads to use. More...
 
void setNumberOfThreads (unsigned int nr_threads=0)
 Initialize the scheduler and set the number of threads to use. 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

void weight () override
 weighting 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 resample ()
 Resampling 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 threads_
 The number of threads the scheduler should use. 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< PointCloudInPtrtransed_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::ParticleFilterOMPTracker< PointInT, StateT >

ParticleFilterOMPTracker tracks the PointCloud which is given by setReferenceCloud within the measured PointCloud using particle filter method in parallel, using the OpenMP standard.

Author
Ryohei Ueda

Definition at line 14 of file particle_filter_omp.h.

Member Typedef Documentation

◆ BaseClass

template<typename PointInT , typename StateT >
using pcl::tracking::ParticleFilterOMPTracker< PointInT, StateT >::BaseClass = Tracker<PointInT, StateT>

Definition at line 38 of file particle_filter_omp.h.

◆ CloudCoherence

template<typename PointInT , typename StateT >
using pcl::tracking::ParticleFilterOMPTracker< PointInT, StateT >::CloudCoherence = PointCloudCoherence<PointInT>

Definition at line 52 of file particle_filter_omp.h.

◆ CloudCoherenceConstPtr

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

Definition at line 54 of file particle_filter_omp.h.

◆ CloudCoherencePtr

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

Definition at line 53 of file particle_filter_omp.h.

◆ Coherence

template<typename PointInT , typename StateT >
using pcl::tracking::ParticleFilterOMPTracker< PointInT, StateT >::Coherence = PointCoherence<PointInT>

Definition at line 48 of file particle_filter_omp.h.

◆ CoherenceConstPtr

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

Definition at line 50 of file particle_filter_omp.h.

◆ CoherencePtr

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

Definition at line 49 of file particle_filter_omp.h.

◆ PointCloudIn

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

Definition at line 40 of file particle_filter_omp.h.

◆ PointCloudInConstPtr

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

Definition at line 42 of file particle_filter_omp.h.

◆ PointCloudInPtr

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

Definition at line 41 of file particle_filter_omp.h.

◆ PointCloudState

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

Definition at line 44 of file particle_filter_omp.h.

◆ PointCloudStateConstPtr

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

Definition at line 46 of file particle_filter_omp.h.

◆ PointCloudStatePtr

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

Definition at line 45 of file particle_filter_omp.h.

Constructor & Destructor Documentation

◆ ParticleFilterOMPTracker()

template<typename PointInT , typename StateT >
pcl::tracking::ParticleFilterOMPTracker< PointInT, StateT >::ParticleFilterOMPTracker ( unsigned int  nr_threads = 0)
inline

Initialize the scheduler and set the number of threads to use.

Parameters
nr_threadsthe number of hardware threads to use (0 sets the value back to automatic)

Definition at line 60 of file particle_filter_omp.h.

References pcl::tracking::ParticleFilterOMPTracker< PointInT, StateT >::setNumberOfThreads(), and pcl::tracking::Tracker< PointInT, StateT >::tracker_name_.

Member Function Documentation

◆ setNumberOfThreads()

template<typename PointInT , typename StateT >
void pcl::tracking::ParticleFilterOMPTracker< PointInT, StateT >::setNumberOfThreads ( unsigned int  nr_threads = 0)

Initialize the scheduler and set the number of threads to use.

Parameters
nr_threadsthe number of hardware threads to use (0 sets the value back to automatic)

Definition at line 11 of file particle_filter_omp.hpp.

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

◆ weight()

template<typename PointInT , typename StateT >
void pcl::tracking::ParticleFilterOMPTracker< PointInT, StateT >::weight
overrideprotectedvirtual

weighting phase of particle filter method.

calculate the likelihood of all of the particles and set the weights.

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

Definition at line 26 of file particle_filter_omp.hpp.

Member Data Documentation

◆ threads_

template<typename PointInT , typename StateT >
unsigned int pcl::tracking::ParticleFilterOMPTracker< PointInT, StateT >::threads_
protected

The number of threads the scheduler should use.

Definition at line 77 of file particle_filter_omp.h.


The documentation for this class was generated from the following files: