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

#include <pcl/tracking/particle_filter.h>

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

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

Public Types
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
	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	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	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
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::ParticleFilterTracker< PointInT, StateT >

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

Author: Ryohei Ueda

Definition at line 19 of file particle_filter.h.

Member Typedef Documentation

◆ BaseClass

template<typename PointInT , typename StateT >

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

Definition at line 33 of file particle_filter.h.

◆ CloudCoherence

template<typename PointInT , typename StateT >

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

Definition at line 47 of file particle_filter.h.

◆ CloudCoherenceConstPtr

template<typename PointInT , typename StateT >

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

Definition at line 49 of file particle_filter.h.

◆ CloudCoherencePtr

template<typename PointInT , typename StateT >

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

Definition at line 48 of file particle_filter.h.

◆ Coherence

template<typename PointInT , typename StateT >

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

Definition at line 43 of file particle_filter.h.

◆ CoherenceConstPtr

template<typename PointInT , typename StateT >

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

Definition at line 45 of file particle_filter.h.

◆ CoherencePtr

template<typename PointInT , typename StateT >

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

Definition at line 44 of file particle_filter.h.

◆ ConstPtr

template<typename PointInT , typename StateT >

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

Definition at line 31 of file particle_filter.h.

◆ PointCloudIn

template<typename PointInT , typename StateT >

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

Definition at line 35 of file particle_filter.h.

◆ PointCloudInConstPtr

template<typename PointInT , typename StateT >

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

Definition at line 37 of file particle_filter.h.

◆ PointCloudInPtr

template<typename PointInT , typename StateT >

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

Definition at line 36 of file particle_filter.h.

◆ PointCloudState

template<typename PointInT , typename StateT >

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

Definition at line 39 of file particle_filter.h.

◆ PointCloudStateConstPtr

template<typename PointInT , typename StateT >

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

Definition at line 41 of file particle_filter.h.

◆ PointCloudStatePtr

template<typename PointInT , typename StateT >

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

Definition at line 40 of file particle_filter.h.

◆ Ptr

template<typename PointInT , typename StateT >

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

Definition at line 30 of file particle_filter.h.

Constructor & Destructor Documentation

◆ ParticleFilterTracker()

template<typename PointInT , typename StateT >

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

inline

Empty constructor.

Definition at line 52 of file particle_filter.h.

References pcl::tracking::ParticleFilterTracker< PointInT, StateT >::pass_x_, pcl::tracking::ParticleFilterTracker< PointInT, StateT >::pass_y_, pcl::tracking::ParticleFilterTracker< PointInT, StateT >::pass_z_, pcl::PassThrough< PointT >::setFilterFieldName(), pcl::FilterIndices< PointT >::setKeepOrganized(), and pcl::tracking::Tracker< PointInT, StateT >::tracker_name_.

Member Function Documentation

◆ calcBoundingBox()

template<typename PointInT , typename StateT >

void pcl::tracking::ParticleFilterTracker< PointInT, StateT >::calcBoundingBox	(	double &	x_min,
		double &	x_max,
		double &	y_min,
		double &	y_max,
		double &	z_min,
		double &	z_max
	)

protected

Compute the parameters for the bounding box of hypothesis pointclouds.

Parameters

[out]	x_min	the minimum value of x axis.
[out]	x_max	the maximum value of x axis.
[out]	y_min	the minimum value of y axis.
[out]	y_max	the maximum value of y axis.
[out]	z_min	the minimum value of z axis.
[out]	z_max	the maximum value of z axis.

Definition at line 187 of file particle_filter.hpp.

References pcl::getMinMax3D().

◆ computeTracking()

template<typename PointInT , typename StateT >

void pcl::tracking::ParticleFilterTracker< PointInT, StateT >::computeTracking

overrideprotectedvirtual

Track the pointcloud using particle filter method.

Implements pcl::tracking::Tracker< PointInT, StateT >.

Definition at line 379 of file particle_filter.hpp.

◆ computeTransformedPointCloud()

template<typename PointInT , typename StateT >

void pcl::tracking::ParticleFilterTracker< PointInT, StateT >::computeTransformedPointCloud	(	const StateT &	hypothesis,
		pcl::Indices &	indices,
		PointCloudIn &	cloud
	)

protected

Compute a reference pointcloud transformed to the pose that hypothesis represents.

Parameters

[in]	hypothesis	a particle which represents a hypothesis.
[in]	indices	the indices which should be taken into account.
[out]	cloud	the resultant point cloud model dataset which is transformed to hypothesis.

Definition at line 275 of file particle_filter.hpp.

◆ computeTransformedPointCloudWithNormal()

template<typename PointInT , typename StateT >

void pcl::tracking::ParticleFilterTracker< PointInT, StateT >::computeTransformedPointCloudWithNormal	(	const StateT &	hypothesis,
		pcl::Indices &	indices,
		PointCloudIn &	cloud
	)

protected

Compute a reference pointcloud transformed to the pose that hypothesis represents and calculate indices taking occlusion into account.

Parameters

[in]	hypothesis	a particle which represents a hypothesis.
[in]	indices	the indices which should be taken into account.
[out]	cloud	the resultant point cloud model dataset which is transformed to hypothesis.

Definition at line 298 of file particle_filter.hpp.

References pcl::getAngle3D().

◆ computeTransformedPointCloudWithoutNormal()

template<typename PointInT , typename StateT >

void pcl::tracking::ParticleFilterTracker< PointInT, StateT >::computeTransformedPointCloudWithoutNormal	(	const StateT &	hypothesis,
		PointCloudIn &	cloud
	)

protected

Compute a reference pointcloud transformed to the pose that hypothesis represents and calculate indices without taking occlusion into account.

Parameters

[in]	hypothesis	a particle which represents a hypothesis.
[out]	cloud	the resultant point cloud model dataset which is transformed to hypothesis.

Definition at line 286 of file particle_filter.hpp.

◆ cropInputPointCloud()

template<typename PointInT , typename StateT >

void pcl::tracking::ParticleFilterTracker< PointInT, StateT >::cropInputPointCloud	(	const PointCloudInConstPtr &	cloud,
		PointCloudIn &	output
	)

protected

Crop the pointcloud by the bounding box calculated from hypothesis and the reference pointcloud.

Parameters

[in]	cloud	a pointer to pointcloud to be cropped.
[out]	output	a pointer to be assigned the cropped pointcloud.

Definition at line 162 of file particle_filter.hpp.

◆ genAliasTable()

template<typename PointInT , typename StateT >

void pcl::tracking::ParticleFilterTracker< PointInT, StateT >::genAliasTable	(	std::vector< int > &	a,
		std::vector< double > &	q,
		const PointCloudStateConstPtr &	particles
	)

protected

Generate the tables for walker's alias method.

Definition at line 58 of file particle_filter.hpp.

◆ getAlpha()

template<typename PointInT , typename StateT >

double pcl::tracking::ParticleFilterTracker< PointInT, StateT >::getAlpha ( )

inline

Get the value of alpha.

Definition at line 262 of file particle_filter.h.

References pcl::tracking::ParticleFilterTracker< PointInT, StateT >::alpha_.

◆ getCloudCoherence()

template<typename PointInT , typename StateT >

CloudCoherencePtr pcl::tracking::ParticleFilterTracker< PointInT, StateT >::getCloudCoherence ( ) const

inline

Get the PointCloudCoherence to compute likelihood.

Definition at line 123 of file particle_filter.h.

References pcl::tracking::ParticleFilterTracker< PointInT, StateT >::coherence_.

◆ getFitRatio()

template<typename PointInT , typename StateT >

double pcl::tracking::ParticleFilterTracker< PointInT, StateT >::getFitRatio ( ) const

inline

Get the adjustment ratio.

Definition at line 375 of file particle_filter.h.

References pcl::tracking::ParticleFilterTracker< PointInT, StateT >::fit_ratio_.

◆ getIntervalOfChangeDetection()

template<typename PointInT , typename StateT >

unsigned int pcl::tracking::ParticleFilterTracker< PointInT, StateT >::getIntervalOfChangeDetection ( )

inline

Get the number of interval frames to run change detection.

Definition at line 333 of file particle_filter.h.

References pcl::tracking::ParticleFilterTracker< PointInT, StateT >::change_detector_interval_.

◆ getIterationNum()

template<typename PointInT , typename StateT >

int pcl::tracking::ParticleFilterTracker< PointInT, StateT >::getIterationNum ( ) const

inline

Get the number of iteration.

Definition at line 75 of file particle_filter.h.

References pcl::tracking::ParticleFilterTracker< PointInT, StateT >::iteration_num_.

◆ getMinPointsOfChangeDetection()

template<typename PointInT , typename StateT >

unsigned int pcl::tracking::ParticleFilterTracker< PointInT, StateT >::getMinPointsOfChangeDetection ( )

inline

Get the minimum amount of points required within leaf node to become serialized in change detection.

Definition at line 368 of file particle_filter.h.

References pcl::tracking::ParticleFilterTracker< PointInT, StateT >::change_detector_filter_.

◆ getMotionRatio()

template<typename PointInT , typename StateT >

double pcl::tracking::ParticleFilterTracker< PointInT, StateT >::getMotionRatio ( )

inline

Get the motion ratio.

Definition at line 317 of file particle_filter.h.

References pcl::tracking::ParticleFilterTracker< PointInT, StateT >::motion_ratio_.

◆ getParticleNum()

template<typename PointInT , typename StateT >

int pcl::tracking::ParticleFilterTracker< PointInT, StateT >::getParticleNum ( ) const

inline

Get the number of the particles.

Definition at line 91 of file particle_filter.h.

References pcl::tracking::ParticleFilterTracker< PointInT, StateT >::particle_num_.

◆ getParticles()

template<typename PointInT , typename StateT >

PointCloudStatePtr pcl::tracking::ParticleFilterTracker< PointInT, StateT >::getParticles ( ) const

inline

Get a pointer to a pointcloud of the particles.

Definition at line 232 of file particle_filter.h.

References pcl::tracking::ParticleFilterTracker< PointInT, StateT >::particles_.

◆ getReferenceCloud()

template<typename PointInT , typename StateT >

PointCloudInConstPtr const pcl::tracking::ParticleFilterTracker< PointInT, StateT >::getReferenceCloud ( )

inline

Get a pointer to a reference dataset to be tracked.

Definition at line 107 of file particle_filter.h.

References pcl::tracking::ParticleFilterTracker< PointInT, StateT >::ref_.

◆ getResolutionOfChangeDetection()

template<typename PointInT , typename StateT >

double pcl::tracking::ParticleFilterTracker< PointInT, StateT >::getResolutionOfChangeDetection ( )

inline

Get the resolution of change detection.

Definition at line 360 of file particle_filter.h.

References pcl::tracking::ParticleFilterTracker< PointInT, StateT >::change_detector_resolution_.

◆ getResult()

template<typename PointInT , typename StateT >

StateT pcl::tracking::ParticleFilterTracker< PointInT, StateT >::getResult ( ) const

inlineoverridevirtual

Get an instance of the result of tracking.

This function returns the particle that represents the transform between the reference point cloud at the beginning and the best guess about its location in the most recent frame.

Implements pcl::tracking::Tracker< PointInT, StateT >.

Definition at line 215 of file particle_filter.h.

References pcl::tracking::ParticleFilterTracker< PointInT, StateT >::representative_state_.

◆ getTrans()

template<typename PointInT , typename StateT >

Eigen::Affine3f pcl::tracking::ParticleFilterTracker< PointInT, StateT >::getTrans ( ) const

inline

Get the transformation from the world coordinates to the frame of the particles.

Definition at line 204 of file particle_filter.h.

References pcl::tracking::ParticleFilterTracker< PointInT, StateT >::trans_.

◆ getUseChangeDetector()

template<typename PointInT , typename StateT >

bool pcl::tracking::ParticleFilterTracker< PointInT, StateT >::getUseChangeDetector ( )

inline

Get the value of use_change_detector_.

Definition at line 301 of file particle_filter.h.

References pcl::tracking::ParticleFilterTracker< PointInT, StateT >::use_change_detector_.

◆ getUseNormal()

template<typename PointInT , typename StateT >

bool pcl::tracking::ParticleFilterTracker< PointInT, StateT >::getUseNormal ( )

inline

Get the value of use_normal_.

Definition at line 285 of file particle_filter.h.

References pcl::tracking::ParticleFilterTracker< PointInT, StateT >::use_normal_.

◆ initCompute()

template<typename PointInT , typename StateT >

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

overrideprotectedvirtual

This method should get called before starting the actual computation.

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

Definition at line 14 of file particle_filter.hpp.

◆ initParticles()

template<typename PointInT , typename StateT >

void pcl::tracking::ParticleFilterTracker< PointInT, StateT >::initParticles ( bool reset )

protected

Initialize the particles.

initial_noise_covariance_ and initial_noise_mean_ are used for Gaussian sampling.

Definition at line 94 of file particle_filter.hpp.

◆ normalizeParticleWeight()

template<typename PointInT , typename StateT >

double pcl::tracking::ParticleFilterTracker< PointInT, StateT >::normalizeParticleWeight	(	double	w,
		double	w_min,
		double	w_max
	)

inline

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

Note: This method is described in [P.Azad et. al, ICRA11].

Parameters

[in]	w	the weight to be normalized
[in]	w_min	the minimum weight of the particles
[in]	w_max	the maximum weight of the particles

Definition at line 246 of file particle_filter.h.

References pcl::tracking::ParticleFilterTracker< PointInT, StateT >::alpha_.

◆ normalizeWeight()

template<typename PointInT , typename StateT >

void pcl::tracking::ParticleFilterTracker< PointInT, StateT >::normalizeWeight

protectedvirtual

Normalize the weights of all the particels.

Definition at line 117 of file particle_filter.hpp.

◆ resample()

template<typename PointInT , typename StateT >

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

protectedvirtual

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 in pcl::tracking::KLDAdaptiveParticleFilterTracker< PointInT, StateT >.

Definition at line 321 of file particle_filter.hpp.

◆ resampleDeterministic()

template<typename PointInT , typename StateT >

void pcl::tracking::ParticleFilterTracker< PointInT, StateT >::resampleDeterministic ( )

protected

Resampling the particle in deterministic way.

◆ resampleWithReplacement()

template<typename PointInT , typename StateT >

void pcl::tracking::ParticleFilterTracker< PointInT, StateT >::resampleWithReplacement

protected

Resampling the particle with replacement.

Definition at line 328 of file particle_filter.hpp.

◆ resetTracking()

template<typename PointInT , typename StateT >

virtual void pcl::tracking::ParticleFilterTracker< PointInT, StateT >::resetTracking ( )

inlinevirtual

Reset the particles to restart tracking.

Definition at line 382 of file particle_filter.h.

References pcl::tracking::ParticleFilterTracker< PointInT, StateT >::particles_.

◆ sampleWithReplacement()

template<typename PointInT , typename StateT >

int pcl::tracking::ParticleFilterTracker< PointInT, StateT >::sampleWithReplacement	(	const std::vector< int > &	a,
		const std::vector< double > &	q
	)

protected

Implementation of "sample with replacement" using Walker's alias method.

about Walker's alias method, you can check the paper below: article{355749}, author = {Walker, Alastair J.}, title = {An Efficient Method for Generating Discrete Random Variables with General Distributions}, journal = {ACM Trans. Math. Softw.}, volume = {3}, number = {3}, year = {1977}, issn = {0098-3500}, pages = {253–256}, doi = {http://doi.acm.org/10.1145/355744.355749}, publisher = {ACM}, address = {New York, NY, USA}, }

Parameters

a	an alias table, which generated by genAliasTable.
q	a table of weight, which generated by genAliasTable.

Definition at line 42 of file particle_filter.hpp.

◆ setAlpha()

template<typename PointInT , typename StateT >

void pcl::tracking::ParticleFilterTracker< PointInT, StateT >::setAlpha ( double alpha )

inline

Set the value of alpha.

Parameters

[in] alpha the value of alpha

Definition at line 255 of file particle_filter.h.

References pcl::tracking::ParticleFilterTracker< PointInT, StateT >::alpha_.

◆ setCloudCoherence()

template<typename PointInT , typename StateT >

void pcl::tracking::ParticleFilterTracker< PointInT, StateT >::setCloudCoherence ( const CloudCoherencePtr & coherence )

inline

Set the PointCloudCoherence as likelihood.

Parameters

[in] coherence a pointer to PointCloudCoherence.

Definition at line 116 of file particle_filter.h.

References pcl::tracking::ParticleFilterTracker< PointInT, StateT >::coherence_.

◆ setInitialNoiseCovariance()

template<typename PointInT , typename StateT >

void pcl::tracking::ParticleFilterTracker< PointInT, StateT >::setInitialNoiseCovariance ( const std::vector< double > & initial_noise_covariance )

inline

Set the covariance of the initial noise.

It will be used when initializing the particles.

Parameters

[in] initial_noise_covariance the diagonal elements of covariance matrix of initial noise.

Definition at line 144 of file particle_filter.h.

References pcl::tracking::ParticleFilterTracker< PointInT, StateT >::initial_noise_covariance_.

◆ setInitialNoiseMean()

template<typename PointInT , typename StateT >

void pcl::tracking::ParticleFilterTracker< PointInT, StateT >::setInitialNoiseMean ( const std::vector< double > & initial_noise_mean )

inline

Set the mean of the initial noise.

It will be used when initializing the particles.

Parameters

[in] initial_noise_mean the mean values of initial noise.

Definition at line 154 of file particle_filter.h.

References pcl::tracking::ParticleFilterTracker< PointInT, StateT >::initial_noise_mean_.

◆ setIntervalOfChangeDetection()

template<typename PointInT , typename StateT >

void pcl::tracking::ParticleFilterTracker< PointInT, StateT >::setIntervalOfChangeDetection ( unsigned int change_detector_interval )

inline

Set the number of interval frames to run change detection.

Parameters

[in] change_detector_interval the number of interval frames.

Definition at line 326 of file particle_filter.h.

References pcl::tracking::ParticleFilterTracker< PointInT, StateT >::change_detector_interval_.

◆ setIterationNum()

template<typename PointInT , typename StateT >

void pcl::tracking::ParticleFilterTracker< PointInT, StateT >::setIterationNum ( const int iteration_num )

inline

Set the number of iteration.

Parameters

[in] iteration_num the number of iteration.

Definition at line 68 of file particle_filter.h.

References pcl::tracking::ParticleFilterTracker< PointInT, StateT >::iteration_num_.

◆ setMinIndices()

template<typename PointInT , typename StateT >

void pcl::tracking::ParticleFilterTracker< PointInT, StateT >::setMinIndices ( const int min_indices )

inline

Set the minimum number of indices (default: 1).

ParticleFilterTracker does not take into account the hypothesis whose the number of points is smaller than the minimum indices.

Parameters

[in] min_indices the minimum number of indices.

Definition at line 185 of file particle_filter.h.

References pcl::tracking::ParticleFilterTracker< PointInT, StateT >::min_indices_.

◆ setMinPointsOfChangeDetection()

template<typename PointInT , typename StateT >

void pcl::tracking::ParticleFilterTracker< PointInT, StateT >::setMinPointsOfChangeDetection ( unsigned int change_detector_filter )

inline

Set the minimum amount of points required within leaf node to become serialized in change detection.

Parameters

[in] change_detector_filter the minimum amount of points required within leaf node

Definition at line 344 of file particle_filter.h.

References pcl::tracking::ParticleFilterTracker< PointInT, StateT >::change_detector_filter_.

◆ setMotionRatio()

template<typename PointInT , typename StateT >

void pcl::tracking::ParticleFilterTracker< PointInT, StateT >::setMotionRatio ( double motion_ratio )

inline

Set the motion ratio.

Parameters

[in] motion_ratio the ratio of hypothesis to use motion model.

Definition at line 310 of file particle_filter.h.

References pcl::tracking::ParticleFilterTracker< PointInT, StateT >::motion_ratio_.

◆ setOcclusionAngleThe()

template<typename PointInT , typename StateT >

void pcl::tracking::ParticleFilterTracker< PointInT, StateT >::setOcclusionAngleThe ( const double occlusion_angle_thr )

inline

Set the threshold of angle to be considered occlusion (default: pi/2).

ParticleFilterTracker does not take the occluded points into account according to the angle between the normal and the position.

Parameters

[in] occlusion_angle_thr threshold of angle to be considered occlusion.

Definition at line 174 of file particle_filter.h.

References pcl::tracking::ParticleFilterTracker< PointInT, StateT >::occlusion_angle_thr_.

◆ setParticleNum()

template<typename PointInT , typename StateT >

void pcl::tracking::ParticleFilterTracker< PointInT, StateT >::setParticleNum ( const int particle_num )

inline

Set the number of the particles.

Parameters

[in] particle_num the number of the particles.

Definition at line 84 of file particle_filter.h.

References pcl::tracking::ParticleFilterTracker< PointInT, StateT >::particle_num_.

◆ setReferenceCloud()

template<typename PointInT , typename StateT >

void pcl::tracking::ParticleFilterTracker< PointInT, StateT >::setReferenceCloud ( const PointCloudInConstPtr & ref )

inline

Set a pointer to a reference dataset to be tracked.

Parameters

[in] ref a pointer to a PointCloud message

Definition at line 100 of file particle_filter.h.

References pcl::tracking::ParticleFilterTracker< PointInT, StateT >::ref_.

◆ setResampleLikelihoodThr()

template<typename PointInT , typename StateT >

void pcl::tracking::ParticleFilterTracker< PointInT, StateT >::setResampleLikelihoodThr ( const double resample_likelihood_thr )

inline

Set the threshold to re-initialize the particles.

Parameters

[in] resample_likelihood_thr threshold to re-initialize.

Definition at line 163 of file particle_filter.h.

References pcl::tracking::ParticleFilterTracker< PointInT, StateT >::resample_likelihood_thr_.

◆ setResolutionOfChangeDetection()

template<typename PointInT , typename StateT >

void pcl::tracking::ParticleFilterTracker< PointInT, StateT >::setResolutionOfChangeDetection ( double resolution )

inline

Set the resolution of change detection.

Parameters

[in] resolution resolution of change detection octree

Definition at line 353 of file particle_filter.h.

References pcl::tracking::ParticleFilterTracker< PointInT, StateT >::change_detector_resolution_.

◆ setStepNoiseCovariance()

template<typename PointInT , typename StateT >

void pcl::tracking::ParticleFilterTracker< PointInT, StateT >::setStepNoiseCovariance ( const std::vector< double > & step_noise_covariance )

inline

Set the covariance of step noise.

Parameters

[in] step_noise_covariance the diagonal elements of covariance matrix of step noise.

Definition at line 133 of file particle_filter.h.

References pcl::tracking::ParticleFilterTracker< PointInT, StateT >::step_noise_covariance_.

◆ setTrans()

template<typename PointInT , typename StateT >

void pcl::tracking::ParticleFilterTracker< PointInT, StateT >::setTrans ( const Eigen::Affine3f & trans )

inline

Set the transformation from the world coordinates to the frame of the particles.

Parameters

[in] trans Affine transformation from the worldcoordinates to the frame of the particles.

Definition at line 196 of file particle_filter.h.

References pcl::tracking::ParticleFilterTracker< PointInT, StateT >::trans_.

◆ setUseChangeDetector()

template<typename PointInT , typename StateT >

void pcl::tracking::ParticleFilterTracker< PointInT, StateT >::setUseChangeDetector ( bool use_change_detector )

inline

Set the value of use_change_detector_.

Parameters

[in] use_change_detector the value of use_change_detector_.

Definition at line 294 of file particle_filter.h.

References pcl::tracking::ParticleFilterTracker< PointInT, StateT >::use_change_detector_.

◆ setUseNormal()

template<typename PointInT , typename StateT >

void pcl::tracking::ParticleFilterTracker< PointInT, StateT >::setUseNormal ( bool use_normal )

inline

Set the value of use_normal_.

Parameters

[in] use_normal the value of use_normal_.

Definition at line 271 of file particle_filter.h.

References pcl::tracking::Tracker< PointInT, StateT >::getClassName(), and pcl::tracking::ParticleFilterTracker< PointInT, StateT >::use_normal_.

◆ testChangeDetection()

template<typename PointInT , typename StateT >

bool pcl::tracking::ParticleFilterTracker< PointInT, StateT >::testChangeDetection ( const PointCloudInConstPtr & input )

protected

Run change detection and return true if there is a change.

Parameters

[in] input a pointer to the input pointcloud.

Definition at line 218 of file particle_filter.hpp.

◆ toEigenMatrix()

template<typename PointInT , typename StateT >

Eigen::Affine3f pcl::tracking::ParticleFilterTracker< PointInT, StateT >::toEigenMatrix ( const StateT & particle )

inline

Convert a state to affine transformation from the world coordinates frame.

Parameters

[in] particle an instance of StateT.

Definition at line 225 of file particle_filter.h.

◆ update()

template<typename PointInT , typename StateT >

void pcl::tracking::ParticleFilterTracker< PointInT, StateT >::update

protectedvirtual

Calculate the weighted mean of the particles and set it as the result.

Definition at line 366 of file particle_filter.hpp.

◆ weight()

template<typename PointInT , typename StateT >

void pcl::tracking::ParticleFilterTracker< PointInT, StateT >::weight

protectedvirtual

Weighting phase of particle filter method.

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

Reimplemented in pcl::tracking::ParticleFilterOMPTracker< PointInT, StateT >, and pcl::tracking::KLDAdaptiveParticleFilterOMPTracker< PointInT, StateT >.

Definition at line 232 of file particle_filter.hpp.

Member Data Documentation

◆ alpha_

template<typename PointInT , typename StateT >

double pcl::tracking::ParticleFilterTracker< PointInT, StateT >::alpha_ {15.0}

protected

The weight to be used in normalization of the weights of the particles.

Definition at line 579 of file particle_filter.h.

Referenced by pcl::tracking::ParticleFilterTracker< PointInT, StateT >::getAlpha(), pcl::tracking::ParticleFilterTracker< PointInT, StateT >::normalizeParticleWeight(), and pcl::tracking::ParticleFilterTracker< PointInT, StateT >::setAlpha().

◆ change_counter_

template<typename PointInT , typename StateT >

unsigned int pcl::tracking::ParticleFilterTracker< PointInT, StateT >::change_counter_ {0}

protected

A counter to skip change detection.

Definition at line 618 of file particle_filter.h.

◆ change_detector_

template<typename PointInT , typename StateT >

pcl::octree::OctreePointCloudChangeDetector<PointInT>::Ptr pcl::tracking::ParticleFilterTracker< PointInT, StateT >::change_detector_

protected

Initial value:

{

nullptr}

Change detector used as a trigger to track.

Definition at line 611 of file particle_filter.h.

◆ change_detector_filter_

template<typename PointInT , typename StateT >

unsigned int pcl::tracking::ParticleFilterTracker< PointInT, StateT >::change_detector_filter_ {10}

protected

Minimum points in a leaf when calling change detector.

defaults to 10.

Definition at line 622 of file particle_filter.h.

Referenced by pcl::tracking::ParticleFilterTracker< PointInT, StateT >::getMinPointsOfChangeDetection(), and pcl::tracking::ParticleFilterTracker< PointInT, StateT >::setMinPointsOfChangeDetection().

◆ change_detector_interval_

template<typename PointInT , typename StateT >

unsigned int pcl::tracking::ParticleFilterTracker< PointInT, StateT >::change_detector_interval_ {10}

protected

The number of interval frame to run change detection.

defaults to 10.

Definition at line 626 of file particle_filter.h.

Referenced by pcl::tracking::ParticleFilterTracker< PointInT, StateT >::getIntervalOfChangeDetection(), and pcl::tracking::ParticleFilterTracker< PointInT, StateT >::setIntervalOfChangeDetection().

◆ change_detector_resolution_

template<typename PointInT , typename StateT >

double pcl::tracking::ParticleFilterTracker< PointInT, StateT >::change_detector_resolution_ {0.01}

protected

Resolution of change detector.

defaults to 0.01.

Definition at line 629 of file particle_filter.h.

Referenced by pcl::tracking::ParticleFilterTracker< PointInT, StateT >::getResolutionOfChangeDetection(), and pcl::tracking::ParticleFilterTracker< PointInT, StateT >::setResolutionOfChangeDetection().

◆ changed_

template<typename PointInT , typename StateT >

bool pcl::tracking::ParticleFilterTracker< PointInT, StateT >::changed_ {false}

protected

A flag to be true when change of pointclouds is detected.

Definition at line 615 of file particle_filter.h.

◆ coherence_

template<typename PointInT , typename StateT >

CloudCoherencePtr pcl::tracking::ParticleFilterTracker< PointInT, StateT >::coherence_ {nullptr}

protected

A pointer to PointCloudCoherence.

Definition at line 556 of file particle_filter.h.

Referenced by pcl::tracking::ParticleFilterTracker< PointInT, StateT >::getCloudCoherence(), and pcl::tracking::ParticleFilterTracker< PointInT, StateT >::setCloudCoherence().

◆ fit_ratio_

template<typename PointInT , typename StateT >

double pcl::tracking::ParticleFilterTracker< PointInT, StateT >::fit_ratio_ {0.0}

protected

Adjustment of the particle filter.

Definition at line 547 of file particle_filter.h.

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

◆ initial_noise_covariance_

template<typename PointInT , typename StateT >

std::vector<double> pcl::tracking::ParticleFilterTracker< PointInT, StateT >::initial_noise_covariance_ {}

protected

The diagonal elements of covariance matrix of the initial noise.

the covariance matrix is used when initialize the particles.

Definition at line 566 of file particle_filter.h.

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

◆ initial_noise_mean_

template<typename PointInT , typename StateT >

std::vector<double> pcl::tracking::ParticleFilterTracker< PointInT, StateT >::initial_noise_mean_ {}

protected

The mean values of initial noise.

Definition at line 569 of file particle_filter.h.

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

◆ iteration_num_

template<typename PointInT , typename StateT >

int pcl::tracking::ParticleFilterTracker< PointInT, StateT >::iteration_num_ {1}

protected

The number of iteration of particlefilter.

Definition at line 538 of file particle_filter.h.

Referenced by pcl::tracking::ParticleFilterTracker< PointInT, StateT >::getIterationNum(), and pcl::tracking::ParticleFilterTracker< PointInT, StateT >::setIterationNum().

◆ min_indices_

template<typename PointInT , typename StateT >

int pcl::tracking::ParticleFilterTracker< PointInT, StateT >::min_indices_ {1}

protected

The minimum number of points which the hypothesis should have.

Definition at line 544 of file particle_filter.h.

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

◆ motion_

template<typename PointInT , typename StateT >

StateT pcl::tracking::ParticleFilterTracker< PointInT, StateT >::motion_

protected

Difference between the result in t and t-1.

Definition at line 592 of file particle_filter.h.

◆ motion_ratio_

template<typename PointInT , typename StateT >

double pcl::tracking::ParticleFilterTracker< PointInT, StateT >::motion_ratio_ {0.25}

protected

Ratio of hypothesis to use motion model.

Definition at line 595 of file particle_filter.h.

Referenced by pcl::tracking::ParticleFilterTracker< PointInT, StateT >::getMotionRatio(), and pcl::tracking::ParticleFilterTracker< PointInT, StateT >::setMotionRatio().

◆ occlusion_angle_thr_

template<typename PointInT , typename StateT >

double pcl::tracking::ParticleFilterTracker< PointInT, StateT >::occlusion_angle_thr_ {M_PI / 2.0}

protected

The threshold for the points to be considered as occluded.

Definition at line 575 of file particle_filter.h.

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

◆ particle_num_

template<typename PointInT , typename StateT >

int pcl::tracking::ParticleFilterTracker< PointInT, StateT >::particle_num_ {0}

protected

The number of the particles.

Definition at line 541 of file particle_filter.h.

Referenced by pcl::tracking::ParticleFilterTracker< PointInT, StateT >::getParticleNum(), and pcl::tracking::ParticleFilterTracker< PointInT, StateT >::setParticleNum().

◆ particles_

template<typename PointInT , typename StateT >

PointCloudStatePtr pcl::tracking::ParticleFilterTracker< PointInT, StateT >::particles_ {nullptr}

protected

A pointer to the particles

Definition at line 553 of file particle_filter.h.

Referenced by pcl::tracking::ParticleFilterTracker< PointInT, StateT >::getParticles(), and pcl::tracking::ParticleFilterTracker< PointInT, StateT >::resetTracking().

◆ pass_x_

template<typename PointInT , typename StateT >

pcl::PassThrough<PointInT> pcl::tracking::ParticleFilterTracker< PointInT, StateT >::pass_x_

protected

Pass through filter to crop the pointclouds within the hypothesis bounding box.

Definition at line 599 of file particle_filter.h.

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

◆ pass_y_

template<typename PointInT , typename StateT >

pcl::PassThrough<PointInT> pcl::tracking::ParticleFilterTracker< PointInT, StateT >::pass_y_

protected

Pass through filter to crop the pointclouds within the hypothesis bounding box.

Definition at line 602 of file particle_filter.h.

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

◆ pass_z_

template<typename PointInT , typename StateT >

pcl::PassThrough<PointInT> pcl::tracking::ParticleFilterTracker< PointInT, StateT >::pass_z_

protected

Pass through filter to crop the pointclouds within the hypothesis bounding box.

Definition at line 605 of file particle_filter.h.

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

◆ ref_

template<typename PointInT , typename StateT >

PointCloudInConstPtr pcl::tracking::ParticleFilterTracker< PointInT, StateT >::ref_ {nullptr}

protected

A pointer to reference point cloud.

Definition at line 550 of file particle_filter.h.

Referenced by pcl::tracking::ParticleFilterTracker< PointInT, StateT >::getReferenceCloud(), and pcl::tracking::ParticleFilterTracker< PointInT, StateT >::setReferenceCloud().

◆ representative_state_

template<typename PointInT , typename StateT >

StateT pcl::tracking::ParticleFilterTracker< PointInT, StateT >::representative_state_

protected

The result of tracking.

Definition at line 582 of file particle_filter.h.

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

◆ resample_likelihood_thr_

template<typename PointInT , typename StateT >

double pcl::tracking::ParticleFilterTracker< PointInT, StateT >::resample_likelihood_thr_ {0.0}

protected

The threshold for the particles to be re-initialized.

Definition at line 572 of file particle_filter.h.

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

◆ step_noise_covariance_

template<typename PointInT , typename StateT >

std::vector<double> pcl::tracking::ParticleFilterTracker< PointInT, StateT >::step_noise_covariance_ {}

protected

The diagonal elements of covariance matrix of the step noise.

the covariance matrix is used at every resample method.

Definition at line 561 of file particle_filter.h.

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

◆ trans_

template<typename PointInT , typename StateT >

Eigen::Affine3f pcl::tracking::ParticleFilterTracker< PointInT, StateT >::trans_

protected

An affine transformation from the world coordinates frame to the origin of the particles.

Definition at line 586 of file particle_filter.h.

Referenced by pcl::tracking::ParticleFilterTracker< PointInT, StateT >::getTrans(), and pcl::tracking::ParticleFilterTracker< PointInT, StateT >::setTrans().

◆ transed_reference_vector_

template<typename PointInT , typename StateT >

std::vector<PointCloudInPtr> pcl::tracking::ParticleFilterTracker< PointInT, StateT >::transed_reference_vector_ {}

protected

A list of the pointers to pointclouds.

Definition at line 608 of file particle_filter.h.

◆ use_change_detector_

template<typename PointInT , typename StateT >

bool pcl::tracking::ParticleFilterTracker< PointInT, StateT >::use_change_detector_ {false}

protected

The flag which will be true if using change detection.

Definition at line 632 of file particle_filter.h.

Referenced by pcl::tracking::ParticleFilterTracker< PointInT, StateT >::getUseChangeDetector(), and pcl::tracking::ParticleFilterTracker< PointInT, StateT >::setUseChangeDetector().

◆ use_normal_

template<typename PointInT , typename StateT >

bool pcl::tracking::ParticleFilterTracker< PointInT, StateT >::use_normal_ {false}

protected

A flag to use normal or not.

defaults to false.

Definition at line 589 of file particle_filter.h.

Referenced by pcl::tracking::ParticleFilterTracker< PointInT, StateT >::getUseNormal(), and pcl::tracking::ParticleFilterTracker< PointInT, StateT >::setUseNormal().

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

pcl/tracking/particle_filter.h
pcl/tracking/impl/particle_filter.hpp

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

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

Member Typedef Documentation

◆ BaseClass

◆ CloudCoherence

◆ CloudCoherenceConstPtr

◆ CloudCoherencePtr

◆ Coherence

◆ CoherenceConstPtr

◆ CoherencePtr

◆ ConstPtr

◆ PointCloudIn

◆ PointCloudInConstPtr

◆ PointCloudInPtr

◆ PointCloudState

◆ PointCloudStateConstPtr

◆ PointCloudStatePtr

◆ Ptr

Constructor & Destructor Documentation

◆ ParticleFilterTracker()

Member Function Documentation

◆ calcBoundingBox()

◆ computeTracking()

◆ computeTransformedPointCloud()

◆ computeTransformedPointCloudWithNormal()

◆ computeTransformedPointCloudWithoutNormal()

◆ cropInputPointCloud()

◆ genAliasTable()

◆ getAlpha()

◆ getCloudCoherence()

◆ getFitRatio()

◆ getIntervalOfChangeDetection()

◆ getIterationNum()

◆ getMinPointsOfChangeDetection()

◆ getMotionRatio()

◆ getParticleNum()

◆ getParticles()

◆ getReferenceCloud()

◆ getResolutionOfChangeDetection()

◆ getResult()

◆ getTrans()

◆ getUseChangeDetector()

◆ getUseNormal()

◆ initCompute()

◆ initParticles()

◆ normalizeParticleWeight()

◆ normalizeWeight()

◆ resample()

◆ resampleDeterministic()

◆ resampleWithReplacement()

◆ resetTracking()

◆ sampleWithReplacement()

◆ setAlpha()

◆ setCloudCoherence()

◆ setInitialNoiseCovariance()

◆ setInitialNoiseMean()

◆ setIntervalOfChangeDetection()

◆ setIterationNum()

◆ setMinIndices()

◆ setMinPointsOfChangeDetection()

◆ setMotionRatio()

◆ setOcclusionAngleThe()

◆ setParticleNum()

◆ setReferenceCloud()

◆ setResampleLikelihoodThr()

◆ setResolutionOfChangeDetection()

◆ setStepNoiseCovariance()

◆ setTrans()

◆ setUseChangeDetector()

◆ setUseNormal()

◆ testChangeDetection()

◆ toEigenMatrix()

◆ update()

◆ weight()

Member Data Documentation

◆ alpha_

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