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

#include <particle_filter.h>

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

[legend]

List of all members.

Public Types
typedef Tracker< PointInT, StateT >	BaseClass
typedef PointCloudCoherence < PointInT >	CloudCoherence
typedef boost::shared_ptr < const CloudCoherence >	CloudCoherenceConstPtr
typedef boost::shared_ptr < CloudCoherence >	CloudCoherencePtr
typedef PointCoherence< PointInT >	Coherence
typedef boost::shared_ptr < const Coherence >	CoherenceConstPtr
typedef boost::shared_ptr < Coherence >	CoherencePtr
typedef Tracker< PointInT, StateT >::PointCloudIn	PointCloudIn
typedef PointCloudIn::ConstPtr	PointCloudInConstPtr
typedef PointCloudIn::Ptr	PointCloudInPtr
typedef Tracker< PointInT, StateT >::PointCloudState	PointCloudState
typedef PointCloudState::ConstPtr	PointCloudStateConstPtr
typedef PointCloudState::Ptr	PointCloudStatePtr
Public Member Functions
double	getAlpha ()
	get the value of alpha.
CloudCoherencePtr	getCloudCoherence () const
	get the PointCloudCoherence to compute likelihood.
double	getFitRatio () const
	get the adjustment ratio.
unsigned int	getIntervalOfChangeDetection ()
	get the number of interval frames to run change detection.
int	getIterationNum () const
	get the number of iteration.
unsigned int	getMinPointsOfChangeDetection ()
	get the minimum amount of points required within leaf node to become serialized in change detection
double	getMotionRatio ()
	get the motion ratio
int	getParticleNum () const
	get the number of the particles.
PointCloudStatePtr	getParticles () const
	get a pointer to a pointcloud of the particles.
PointCloudInConstPtr const	getReferenceCloud ()
	get a pointer to a reference dataset to be tracked.
double	getResolutionOfChangeDetection ()
	get the resolution of change detection.
virtual StateT	getResult () const
	Get an instance of the result of tracking.
Eigen::Affine3f	getTrans () const
	get the transformation from the world coordinates to the frame of the particles.
bool	getUseChangeDetector ()
	get the value of use_change_detector_.
bool	getUseNormal ()
	get the value of use_normal_.
double	normalizeParticleWeight (double w, double w_min, double w_max)
	normalize the weight of a particle using exp(1- alpha ( w - w_{min}) / (w_max - w_min)). this method is described in [P.Azad et. al, ICRA11].
	ParticleFilterTracker ()
	Empty constructor.
virtual void	resetTracking ()
	reset the particles to restart tracking
void	setAlpha (double alpha)
	set the value of alpha.
void	setCloudCoherence (const CloudCoherencePtr &coherence)
	set the PointCloudCoherence as likelihood.
void	setInitialNoiseCovariance (const std::vector< double > &initial_noise_covariance)
	set the covariance of the initial noise. it will be used when initializing the particles.
void	setInitialNoiseMean (const std::vector< double > &initial_noise_mean)
	set the mean of the initial noise. it will be used when initializing the particles.
void	setIntervalOfChangeDetection (unsigned int change_detector_interval)
	set the number of interval frames to run change detection.
void	setIterationNum (const int iteration_num)
	set the number of iteration.
void	setMinIndices (const int min_indices)
	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.
void	setMinPointsOfChangeDetection (unsigned int change_detector_filter)
	set the minimum amount of points required within leaf node to become serialized in change detection
void	setMotionRatio (double motion_ratio)
	set the motion ratio
void	setOcclusionAngleThe (const double occlusion_angle_thr)
	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.
void	setParticleNum (const int particle_num)
	set the number of the particles.
void	setReferenceCloud (const PointCloudInConstPtr &ref)
	set a pointer to a reference dataset to be tracked.
void	setResampleLikelihoodThr (const double resample_likelihood_thr)
	set the threshold to re-initialize the particles.
void	setResolutionOfChangeDetection (double resolution)
	set the resolution of change detection.
void	setStepNoiseCovariance (const std::vector< double > &step_noise_covariance)
	set the covariance of step noise.
void	setTrans (const Eigen::Affine3f &trans)
	set the transformation from the world coordinates to the frame of the particles.
void	setUseChangeDetector (bool use_change_detector)
	set the value of use_change_detector_.
void	setUseNormal (bool use_normal)
	set the value of use_normal_.
Eigen::Affine3f	toEigenMatrix (const StateT &particle)
	convert a state to affine transformation from the world coordinates frame.
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.
virtual void	computeTracking ()
	track the pointcloud using particle filter method.
void	computeTransformedPointCloud (const StateT &hypothesis, std::vector< int > &indices, PointCloudIn &cloud)
	compute a reference pointcloud transformed to the pose that hypothesis represents.
void	computeTransformedPointCloudWithNormal (const StateT &hypothesis, std::vector< int > &indices, PointCloudIn &cloud)
	compute a reference pointcloud transformed to the pose that hypothesis represents and calculate indices taking occlusion into \ account.
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.
void	cropInputPointCloud (const PointCloudInConstPtr &cloud, PointCloudIn &output)
	crop the pointcloud by the bounding box calculated from hypothesis and the reference pointcloud.
void	genAliasTable (std::vector< int > &a, std::vector< double > &q, const PointCloudStateConstPtr &particles)
	generate the tables for walker's alias method
virtual bool	initCompute ()
	This method should get called before starting the actual computation.
void	initParticles (bool reset)
	initialize the particles. initial_noise_covariance_ and initial_noise_mean_ are used for gausiaan sampling.
virtual void	normalizeWeight ()
	normalize the weights of all the particels.
virtual void	resample ()
	resampling phase of particle filter method. sampling the particles according to the weights calculated in weight method. in particular, "sample with replacement" is archieved by walker's alias method.
void	resampleDeterministic ()
	resampling the particle in deterministic way
void	resampleWithReplacement ()
	resampling the particle with replacement
int	sampleWithReplacement (const std::vector< int > &a, const std::vector< double > &q)
	implementation of "sample with replacement" using Walker's alias method. about Walker's alias method, you can check the paper below: {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}, }
bool	testChangeDetection (const PointCloudInConstPtr &input)
	run change detection and return true if there is a change.
virtual void	update ()
	calculate the weighted mean of the particles and set it as the result
virtual void	weight ()
	weighting phase of particle filter method. calculate the likelihood of all of the particles and set the weights.
Protected Attributes
double	alpha_
	the weight to be used in normalization of the weights of the particles
unsigned int	change_counter_
	a counter to skip change detection
boost::shared_ptr < pcl::octree::OctreePointCloudChangeDetector < PointInT > >	change_detector_
	change detector used as a trigger to track
unsigned int	change_detector_filter_
	minimum points in a leaf when calling change detector. defaults to 10
unsigned int	change_detector_interval_
	the number of interval frame to run change detection. defaults to 10.
double	change_detector_resolution_
	resolution of change detector. defaults to 0.01.
bool	changed_
	a flag to be true when change of pointclouds is detected
CloudCoherencePtr	coherence_
	a pointer to PointCloudCoherence.
double	fit_ratio_
	adjustment of the particle filter.
std::vector< double >	initial_noise_covariance_
	the diagonal elements of covariance matrix of the initial noise. the covariance matrix is used when initialize the particles.
std::vector< double >	initial_noise_mean_
	the mean values of initial noise.
int	iteration_num_
	the number of iteration of particlefilter.
int	min_indices_
	the minimum number of points which the hypothesis should have.
StateT	motion_
	difference between the result in t and t-1
double	motion_ratio_
	ratio of hypothesis to use motion model
double	occlusion_angle_thr_
	the threshold for the points to be considered as occluded
int	particle_num_
	the number of the particles.
PointCloudStatePtr	particles_
	a pointer to the particles
pcl::PassThrough< PointInT >	pass_x_
	pass through filter to crop the pointclouds within the hypothesis bounding box
pcl::PassThrough< PointInT >	pass_y_
	pass through filter to crop the pointclouds within the hypothesis bounding box
pcl::PassThrough< PointInT >	pass_z_
	pass through filter to crop the pointclouds within the hypothesis bounding box
PointCloudInConstPtr	ref_
	a pointer to reference point cloud.
StateT	representative_state_
	the result of tracking.
double	resample_likelihood_thr_
	the threshold for the particles to be re-initialized
std::vector< double >	step_noise_covariance_
	the diagonal elements of covariance matrix of the step noise. the covariance matrix is used at every resample method.
Eigen::Affine3f	trans_
	an affine transformation from the world coordinates frame to the origin of the particles
std::vector< PointCloudInPtr >	transed_reference_vector_
	a list of the pointers to pointclouds
bool	use_change_detector_
	the flag which will be true if using change detection
bool	use_normal_
	a flag to use normal or not. defaults to false

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 23 of file particle_filter.h.

Member Typedef Documentation

template<typename PointInT, typename StateT>

typedef Tracker<PointInT, StateT> pcl::tracking::ParticleFilterTracker< PointInT, StateT >::BaseClass

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

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

Definition at line 35 of file particle_filter.h.

template<typename PointInT, typename StateT>

typedef PointCloudCoherence<PointInT> pcl::tracking::ParticleFilterTracker< PointInT, StateT >::CloudCoherence

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

Definition at line 49 of file particle_filter.h.

template<typename PointInT, typename StateT>

typedef boost::shared_ptr< const CloudCoherence > pcl::tracking::ParticleFilterTracker< PointInT, StateT >::CloudCoherenceConstPtr

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

Definition at line 51 of file particle_filter.h.

template<typename PointInT, typename StateT>

typedef boost::shared_ptr< CloudCoherence > pcl::tracking::ParticleFilterTracker< PointInT, StateT >::CloudCoherencePtr

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

Definition at line 50 of file particle_filter.h.

template<typename PointInT, typename StateT>

typedef PointCoherence<PointInT> pcl::tracking::ParticleFilterTracker< PointInT, StateT >::Coherence

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

Definition at line 45 of file particle_filter.h.

template<typename PointInT, typename StateT>

typedef boost::shared_ptr< const Coherence > pcl::tracking::ParticleFilterTracker< PointInT, StateT >::CoherenceConstPtr

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

Definition at line 47 of file particle_filter.h.

template<typename PointInT, typename StateT>

typedef boost::shared_ptr< Coherence > pcl::tracking::ParticleFilterTracker< PointInT, StateT >::CoherencePtr

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

Definition at line 46 of file particle_filter.h.

template<typename PointInT, typename StateT>

typedef Tracker<PointInT, StateT>::PointCloudIn pcl::tracking::ParticleFilterTracker< PointInT, StateT >::PointCloudIn

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

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

Definition at line 37 of file particle_filter.h.

template<typename PointInT, typename StateT>

typedef PointCloudIn::ConstPtr pcl::tracking::ParticleFilterTracker< PointInT, StateT >::PointCloudInConstPtr

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

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

Definition at line 39 of file particle_filter.h.

template<typename PointInT, typename StateT>

typedef PointCloudIn::Ptr pcl::tracking::ParticleFilterTracker< PointInT, StateT >::PointCloudInPtr

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

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

Definition at line 38 of file particle_filter.h.

template<typename PointInT, typename StateT>

typedef Tracker<PointInT, StateT>::PointCloudState pcl::tracking::ParticleFilterTracker< PointInT, StateT >::PointCloudState

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

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

Definition at line 41 of file particle_filter.h.

template<typename PointInT, typename StateT>

typedef PointCloudState::ConstPtr pcl::tracking::ParticleFilterTracker< PointInT, StateT >::PointCloudStateConstPtr

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

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

Definition at line 43 of file particle_filter.h.

template<typename PointInT, typename StateT>

typedef PointCloudState::Ptr pcl::tracking::ParticleFilterTracker< PointInT, StateT >::PointCloudStatePtr

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

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

Definition at line 42 of file particle_filter.h.

Constructor & Destructor Documentation

template<typename PointInT, typename StateT>

pcl::tracking::ParticleFilterTracker< PointInT, StateT >::ParticleFilterTracker ( ) [inline]

Empty constructor.

Definition at line 54 of file particle_filter.h.

Member Function Documentation

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:

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

Definition at line 192 of file particle_filter.hpp.

template<typename PointInT , typename StateT >

void pcl::tracking::ParticleFilterTracker< PointInT, StateT >::computeTracking ( ) [protected, virtual]

track the pointcloud using particle filter method.

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

Definition at line 386 of file particle_filter.hpp.

template<typename PointInT , typename StateT >

void pcl::tracking::ParticleFilterTracker< PointInT, StateT >::computeTransformedPointCloud	(	const StateT &	hypothesis,
		std::vector< int > &	indices,
		PointCloudIn &	cloud
	)		`[protected]`

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

Parameters:

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

Definition at line 276 of file particle_filter.hpp.

template<typename PointInT , typename StateT >

void pcl::tracking::ParticleFilterTracker< PointInT, StateT >::computeTransformedPointCloudWithNormal	(	const StateT &	hypothesis,
		std::vector< int > &	indices,
		PointCloudIn &	cloud
	)		`[protected]`

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

Parameters:

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

Definition at line 295 of file particle_filter.hpp.

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:

hypothesis	a particle which represents a hypothesis.
cloud	the resultant point cloud model dataset which is transformed to hypothesis.

Definition at line 286 of file particle_filter.hpp.

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:

cloud	a pointer to pointcloud to be cropped.
output	a pointer to be assigned the cropped pointcloud.

Definition at line 168 of file particle_filter.hpp.

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 57 of file particle_filter.hpp.

template<typename PointInT, typename StateT>

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

get the value of alpha.

Definition at line 231 of file particle_filter.h.

template<typename PointInT, typename StateT>

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

get the PointCloudCoherence to compute likelihood.

Definition at line 131 of file particle_filter.h.

template<typename PointInT, typename StateT>

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

get the adjustment ratio.

Definition at line 295 of file particle_filter.h.

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 266 of file particle_filter.h.

template<typename PointInT, typename StateT>

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

get the number of iteration.

Definition at line 101 of file particle_filter.h.

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 288 of file particle_filter.h.

template<typename PointInT, typename StateT>

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

get the motion ratio

Definition at line 255 of file particle_filter.h.

template<typename PointInT, typename StateT>

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

get the number of the particles.

Definition at line 111 of file particle_filter.h.

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 211 of file particle_filter.h.

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 121 of file particle_filter.h.

template<typename PointInT, typename StateT>

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

get the resolution of change detection.

Definition at line 285 of file particle_filter.h.

template<typename PointInT, typename StateT>

virtual StateT pcl::tracking::ParticleFilterTracker< PointInT, StateT >::getResult ( ) const [inline, virtual]

Get an instance of the result of tracking.

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

Definition at line 200 of file particle_filter.h.

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 197 of file particle_filter.h.

template<typename PointInT, typename StateT>

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

get the value of use_change_detector_.

Definition at line 247 of file particle_filter.h.

template<typename PointInT, typename StateT>

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

get the value of use_normal_.

Definition at line 239 of file particle_filter.h.

template<typename PointInT , typename StateT >

bool pcl::tracking::ParticleFilterTracker< PointInT, StateT >::initCompute ( ) [protected, virtual]

This method should get called before starting the actual computation.

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

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

Definition at line 11 of file particle_filter.hpp.

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 gausiaan sampling.

Definition at line 92 of file particle_filter.hpp.

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 exp(1- alpha ( w - w_{min}) / (w_max - w_min)). this method is described in [P.Azad et. al, ICRA11].

Parameters:

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

Definition at line 220 of file particle_filter.h.

template<typename PointInT , typename StateT >

void pcl::tracking::ParticleFilterTracker< PointInT, StateT >::normalizeWeight ( ) [protected, virtual]

normalize the weights of all the particels.

Definition at line 117 of file particle_filter.hpp.

template<typename PointInT , typename StateT >

void pcl::tracking::ParticleFilterTracker< PointInT, StateT >::resample ( ) [protected, virtual]

resampling phase of particle filter method. sampling the particles according to the weights calculated in weight method. in particular, "sample with replacement" is archieved by walker's alias method.

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

Definition at line 326 of file particle_filter.hpp.

template<typename PointInT, typename StateT>

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

resampling the particle in deterministic way

template<typename PointInT , typename StateT >

void pcl::tracking::ParticleFilterTracker< PointInT, StateT >::resampleWithReplacement ( ) [protected]

resampling the particle with replacement

Definition at line 332 of file particle_filter.hpp.

template<typename PointInT, typename StateT>

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

reset the particles to restart tracking

Definition at line 298 of file particle_filter.h.

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: {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 41 of file particle_filter.hpp.

template<typename PointInT, typename StateT>

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

set the value of alpha.

Parameters:

alpha the value of alpha

Definition at line 228 of file particle_filter.h.

template<typename PointInT, typename StateT>

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

set the PointCloudCoherence as likelihood.

Parameters:

coherence a pointer to PointCloudCoherence.

Definition at line 127 of file particle_filter.h.

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:

initial_noise_covariance the diagonal elements of covariance matrix of initial noise.

Definition at line 148 of file particle_filter.h.

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:

initial_noise_mean the mean values of initial noise.

Definition at line 158 of file particle_filter.h.

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:

change_detector_interval the number of interval frames.

Definition at line 260 of file particle_filter.h.

template<typename PointInT, typename StateT>

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

set the number of iteration.

Parameters:

iteration_num the number of iteration.

Definition at line 97 of file particle_filter.h.

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:

min_indices the minimum number of indices.

Definition at line 189 of file particle_filter.h.

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:

change_detector_filter the minimum amount of points required within leaf node

Definition at line 274 of file particle_filter.h.

template<typename PointInT, typename StateT>

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

set the motion ratio

Parameters:

motion_ratio the ratio of hypothesis to use motion model.

Definition at line 252 of file particle_filter.h.

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:

occlusion_angle_thr threshold of angle to be considered occlusion.

Definition at line 178 of file particle_filter.h.

template<typename PointInT, typename StateT>

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

set the number of the particles.

Parameters:

particle_num the number of the particles.

Definition at line 107 of file particle_filter.h.

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:

cloud a pointer to a PointCloud message

Definition at line 117 of file particle_filter.h.

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:

resample_likelihood_thr threshold to re-initialize.

Definition at line 167 of file particle_filter.h.

template<typename PointInT, typename StateT>

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

set the resolution of change detection.

Parameters:

resolution resolution of change detection octree

Definition at line 282 of file particle_filter.h.

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:

step_noise_covariance the diagonal elements of covariance matrix of step noise.

Definition at line 138 of file particle_filter.h.

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:

trans Affine transformation from the worldcoordinates to the frame of the particles.

Definition at line 194 of file particle_filter.h.

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:

use_normal the value of use_change_detector_.

Definition at line 244 of file particle_filter.h.

template<typename PointInT, typename StateT>

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

set the value of use_normal_.

Parameters:

use_normal the value of use_normal_.

Definition at line 236 of file particle_filter.h.

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:

input a pointer to the input pointcloud.

Definition at line 220 of file particle_filter.hpp.

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:

particle an instance of StateT.

Definition at line 205 of file particle_filter.h.

template<typename PointInT , typename StateT >

void pcl::tracking::ParticleFilterTracker< PointInT, StateT >::update ( ) [protected, virtual]

calculate the weighted mean of the particles and set it as the result

Definition at line 370 of file particle_filter.hpp.

template<typename PointInT , typename StateT >

void pcl::tracking::ParticleFilterTracker< PointInT, StateT >::weight ( ) [protected, virtual]

weighting phase of particle filter method. calculate the likelihood of all of the particles and set the weights.

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

Definition at line 231 of file particle_filter.hpp.

Member Data Documentation

template<typename PointInT, typename StateT>

double pcl::tracking::ParticleFilterTracker< PointInT, StateT >::alpha_ [protected]

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

Definition at line 471 of file particle_filter.h.

template<typename PointInT, typename StateT>

unsigned int pcl::tracking::ParticleFilterTracker< PointInT, StateT >::change_counter_ [protected]

a counter to skip change detection

Definition at line 505 of file particle_filter.h.

template<typename PointInT, typename StateT>

boost::shared_ptr<pcl::octree::OctreePointCloudChangeDetector<PointInT> > pcl::tracking::ParticleFilterTracker< PointInT, StateT >::change_detector_ [protected]

change detector used as a trigger to track

Definition at line 499 of file particle_filter.h.

template<typename PointInT, typename StateT>

unsigned int pcl::tracking::ParticleFilterTracker< PointInT, StateT >::change_detector_filter_ [protected]

minimum points in a leaf when calling change detector. defaults to 10

Definition at line 508 of file particle_filter.h.

template<typename PointInT, typename StateT>

unsigned int pcl::tracking::ParticleFilterTracker< PointInT, StateT >::change_detector_interval_ [protected]

the number of interval frame to run change detection. defaults to 10.

Definition at line 511 of file particle_filter.h.

template<typename PointInT, typename StateT>

double pcl::tracking::ParticleFilterTracker< PointInT, StateT >::change_detector_resolution_ [protected]

resolution of change detector. defaults to 0.01.

Definition at line 514 of file particle_filter.h.

template<typename PointInT, typename StateT>

bool pcl::tracking::ParticleFilterTracker< PointInT, StateT >::changed_ [protected]

a flag to be true when change of pointclouds is detected

Definition at line 502 of file particle_filter.h.

template<typename PointInT, typename StateT>

CloudCoherencePtr pcl::tracking::ParticleFilterTracker< PointInT, StateT >::coherence_ [protected]

a pointer to PointCloudCoherence.

Definition at line 448 of file particle_filter.h.

template<typename PointInT, typename StateT>

double pcl::tracking::ParticleFilterTracker< PointInT, StateT >::fit_ratio_ [protected]

adjustment of the particle filter.

Definition at line 439 of file particle_filter.h.

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 458 of file particle_filter.h.

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 461 of file particle_filter.h.

template<typename PointInT, typename StateT>

int pcl::tracking::ParticleFilterTracker< PointInT, StateT >::iteration_num_ [protected]

the number of iteration of particlefilter.

Definition at line 430 of file particle_filter.h.

template<typename PointInT, typename StateT>

int pcl::tracking::ParticleFilterTracker< PointInT, StateT >::min_indices_ [protected]

the minimum number of points which the hypothesis should have.

Definition at line 436 of file particle_filter.h.

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 483 of file particle_filter.h.

template<typename PointInT, typename StateT>

double pcl::tracking::ParticleFilterTracker< PointInT, StateT >::motion_ratio_ [protected]

ratio of hypothesis to use motion model

Definition at line 486 of file particle_filter.h.

template<typename PointInT, typename StateT>

double pcl::tracking::ParticleFilterTracker< PointInT, StateT >::occlusion_angle_thr_ [protected]

the threshold for the points to be considered as occluded

Definition at line 467 of file particle_filter.h.

template<typename PointInT, typename StateT>

int pcl::tracking::ParticleFilterTracker< PointInT, StateT >::particle_num_ [protected]

the number of the particles.

Definition at line 433 of file particle_filter.h.

template<typename PointInT, typename StateT>

PointCloudStatePtr pcl::tracking::ParticleFilterTracker< PointInT, StateT >::particles_ [protected]

a pointer to the particles

Definition at line 445 of file particle_filter.h.

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 489 of file particle_filter.h.

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 491 of file particle_filter.h.

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 493 of file particle_filter.h.

template<typename PointInT, typename StateT>

PointCloudInConstPtr pcl::tracking::ParticleFilterTracker< PointInT, StateT >::ref_ [protected]

a pointer to reference point cloud.

Definition at line 442 of file particle_filter.h.

template<typename PointInT, typename StateT>

StateT pcl::tracking::ParticleFilterTracker< PointInT, StateT >::representative_state_ [protected]

the result of tracking.

Definition at line 474 of file particle_filter.h.

template<typename PointInT, typename StateT>

double pcl::tracking::ParticleFilterTracker< PointInT, StateT >::resample_likelihood_thr_ [protected]

the threshold for the particles to be re-initialized

Definition at line 464 of file particle_filter.h.

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 453 of file particle_filter.h.

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 477 of file particle_filter.h.

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 496 of file particle_filter.h.

template<typename PointInT, typename StateT>

bool pcl::tracking::ParticleFilterTracker< PointInT, StateT >::use_change_detector_ [protected]

the flag which will be true if using change detection

Definition at line 517 of file particle_filter.h.

template<typename PointInT, typename StateT>

bool pcl::tracking::ParticleFilterTracker< PointInT, StateT >::use_normal_ [protected]

a flag to use normal or not. defaults to false

Definition at line 480 of file particle_filter.h.

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

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

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

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