Public Types | Public Member Functions | Protected Member Functions | Protected Attributes
pcl::tracking::ParticleFilterTracker< PointInT, StateT > Class Template Reference

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 >:
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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. 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.
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)) $.
 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 Gaussian 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:
[out]x_minthe minimum value of x axis.
[out]x_maxthe maximum value of x axis.
[out]y_minthe minimum value of y axis.
[out]y_maxthe maximum value of y axis.
[out]z_minthe minimum value of z axis.
[out]z_maxthe 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:
[in]hypothesisa particle which represents a hypothesis.
[in]indicesthe indices which should be taken into account.
[out]cloudthe 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:
[in]hypothesisa particle which represents a hypothesis.
[in]indicesthe indices which should be taken into account.
[out]cloudthe 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:
[in]hypothesisa particle which represents a hypothesis.
[out]cloudthe 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:
[in]clouda pointer to pointcloud to be cropped.
[out]outputa 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 212 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. 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 201 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 195 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 Gaussian 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)) $.

Note:
This method is described in [P.Azad et. al, ICRA11].
Parameters:
[in]wthe weight to be normalized
[in]w_minthe minimum weight of the particles
[in]w_maxthe 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:
aan alias table, which generated by genAliasTable.
qa 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:
[in]alphathe 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:
[in]coherencea 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:
[in]initial_noise_covariancethe diagonal elements of covariance matrix of initial noise.

Definition at line 147 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:
[in]initial_noise_meanthe mean values of initial noise.

Definition at line 156 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:
[in]change_detector_intervalthe 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:
[in]iteration_numthe 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:
[in]min_indicesthe minimum number of indices.

Definition at line 187 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:
[in]change_detector_filterthe 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:
[in]motion_ratiothe 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:
[in]occlusion_angle_thrthreshold of angle to be considered occlusion.

Definition at line 176 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:
[in]particle_numthe 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:
[in]refa 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:
[in]resample_likelihood_thrthreshold to re-initialize.

Definition at line 165 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:
[in]resolutionresolution 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:
[in]step_noise_covariancethe 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:
[in]transAffine transformation from the worldcoordinates to the frame of the particles.

Definition at line 192 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:
[in]use_change_detectorthe 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:
[in]use_normalthe 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:
[in]inputa 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:
[in]particlean instance of StateT.

Definition at line 206 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 456 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 490 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 484 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 493 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 496 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 499 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 487 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 434 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 425 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 444 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 447 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 416 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 422 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 468 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 471 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 453 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 419 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 431 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 474 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 476 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 478 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 428 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 459 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 450 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 439 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 462 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 481 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 502 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 465 of file particle_filter.h.

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

pcl
Author(s): Open Perception
autogenerated on Wed Aug 26 2015 15:47:16