#include <particle_filter_tracking.h>

Inheritance diagram for jsk_pcl_ros::ParticleFilterTracking:

Public Types
typedef ParticleFilterTrackingConfig	Config
typedef ParticleFilterTracker < PointT, ParticleXYZRPY > ::PointCloudStatePtr	PointCloudStatePtr
typedef pcl::PointXYZRGB	PointT
typedef message_filters::sync_policies::ExactTime < sensor_msgs::PointCloud2, sensor_msgs::PointCloud2 >	SyncChangePolicy
typedef message_filters::sync_policies::ExactTime < sensor_msgs::PointCloud2, jsk_recognition_msgs::BoundingBox >	SyncPolicy
Public Member Functions
	ParticleFilterTracking ()
Protected Member Functions
virtual tf::Transform	change_pointcloud_frame (pcl::PointCloud< PointT >::Ptr cloud)
virtual void	cloud_cb (const sensor_msgs::PointCloud2 &pc)
virtual void	cloud_change_cb (const sensor_msgs::PointCloud2::ConstPtr &pc, const sensor_msgs::PointCloud2::ConstPtr &chnage_cloud)
virtual void	config_callback (Config &config, uint32_t level)
virtual void	publish_particles ()
virtual void	publish_result ()
virtual void	publish_tracker_status (const std_msgs::Header &header, const bool is_tracking)
virtual std::string	reference_frame_id ()
virtual bool	renew_model_cb (jsk_recognition_msgs::SetPointCloud2::Request &req, jsk_recognition_msgs::SetPointCloud2::Response &response)
virtual void	renew_model_topic_cb (const sensor_msgs::PointCloud2 &pc)
virtual void	renew_model_with_box_topic_cb (const sensor_msgs::PointCloud2::ConstPtr &pc_ptr, const jsk_recognition_msgs::BoundingBox::ConstPtr &bb_ptr)
virtual void	renew_model_with_marker_topic_cb (const visualization_msgs::Marker &marker)
virtual void	reset_tracking_target_model (const pcl::PointCloud< PointT >::ConstPtr &new_target_cloud)
virtual double	rms (boost::circular_buffer< double > &buffer)
virtual void	subscribe ()
virtual void	tracker_compute ()
virtual ParticleFilterTracker < PointT, ParticleXYZRPY > ::PointCloudStatePtr	tracker_get_particles ()
virtual pcl::PointCloud < PointT >::ConstPtr	tracker_get_reference_cloud ()
virtual ParticleXYZRPY	tracker_get_result ()
virtual void	tracker_reset_tracking ()
virtual void	tracker_set_bin_size (const ParticleXYZRPY bin_size)
virtual void	tracker_set_cloud_coherence (ApproxNearestPairPointCloudCoherence< PointT >::Ptr coherence)
virtual void	tracker_set_delta (double delta)
virtual void	tracker_set_epsilon (double epsilon)
virtual void	tracker_set_initial_noise_covariance (const std::vector< double > &covariance)
virtual void	tracker_set_initial_noise_mean (const std::vector< double > &mean)
virtual void	tracker_set_input_cloud (pcl::PointCloud< PointT >::Ptr input)
virtual void	tracker_set_iteration_num (const int num)
virtual void	tracker_set_maximum_particle_num (int num)
virtual void	tracker_set_particle_num (const int num)
virtual void	tracker_set_reference_cloud (pcl::PointCloud< PointT >::Ptr ref)
virtual void	tracker_set_resample_likelihood_thr (double thr)
virtual void	tracker_set_step_noise_covariance (const std::vector< double > &covariance)
virtual void	tracker_set_trans (const Eigen::Affine3f &trans)
virtual void	tracker_set_use_normal (bool use_normal)
virtual Eigen::Affine3f	tracker_to_eigen_matrix (const ParticleXYZRPY &result)
virtual void	unsubscribe ()
Protected Attributes
bool	align_box_
boost::circular_buffer< double >	angle_error_buffer_
std::string	base_frame_id_
ParticleXYZRPY	bin_size_
double	change_cloud_near_threshold_
bool	change_frame_
boost::shared_ptr < message_filters::Synchronizer < SyncChangePolicy > >	change_sync_
pcl::PointCloud< PointT >::Ptr	cloud_pass_
pcl::PointCloud< PointT >::Ptr	cloud_pass_downsampled_
int	counter_
std::vector< double >	default_step_covariance_
double	delta_
boost::circular_buffer< double >	distance_error_buffer_
double	epsilon_
std::string	frame_id_
Eigen::Affine3f	initial_pose_
int	iteration_num_
tf::TransformListener *	listener_
int	marker_to_pointcloud_sampling_nums_
int	max_particle_num_
boost::mutex	mtx_
bool	new_cloud_
jsk_recognition_utils::SeriesedBoolean	no_move_buffer_
bool	not_publish_tf_
bool	not_use_reference_centroid_
ros::Publisher	particle_publisher_
ros::Publisher	pose_stamped_publisher_
ParticleXYZRPY	prev_result_
ros::Time	prev_stamp_
ros::Publisher	pub_average_time_
ros::Publisher	pub_change_cloud_marker_
ros::Publisher	pub_latest_time_
ros::Publisher	pub_no_move_
ros::Publisher	pub_no_move_raw_
ros::Publisher	pub_rms_angle_
ros::Publisher	pub_rms_distance_
ros::Publisher	pub_skipped_
ros::Publisher	pub_tracker_status_
ros::Publisher	pub_velocity_
ros::Publisher	pub_velocity_norm_
tf::Transform	reference_transform_
ros::ServiceServer	renew_model_srv_
double	resample_likelihood_thr_
bool	reversed_
boost::shared_ptr < ReversedParticleFilterOMPTracker < PointT, ParticleXYZRPY > >	reversed_tracker_
boost::shared_ptr < dynamic_reconfigure::Server < Config > >	srv_
ros::Time	stamp_
double	static_velocity_thr_
ros::Subscriber	sub_
message_filters::Subscriber < jsk_recognition_msgs::BoundingBox >	sub_box_
message_filters::Subscriber < sensor_msgs::PointCloud2 >	sub_change_cloud_
message_filters::Subscriber < sensor_msgs::PointCloud2 >	sub_input_
message_filters::Subscriber < sensor_msgs::PointCloud2 >	sub_input_cloud_
ros::Subscriber	sub_update_model_
ros::Subscriber	sub_update_with_marker_model_
boost::shared_ptr < message_filters::Synchronizer < SyncPolicy > >	sync_
pcl::PointCloud< PointT >::Ptr	target_cloud_
jsk_recognition_utils::WallDurationTimer	timer_
ros::Publisher	track_result_publisher_
std::string	track_target_name_
bool	track_target_set_
boost::shared_ptr < KLDAdaptiveParticleFilterOMPTracker < PointT, ParticleXYZRPY > >	tracker_
bool	use_change_detection_
Private Member Functions
virtual void	onInit ()

Detailed Description

Definition at line 538 of file particle_filter_tracking.h.

Member Typedef Documentation

typedef ParticleFilterTrackingConfig jsk_pcl_ros::ParticleFilterTracking::Config

Definition at line 542 of file particle_filter_tracking.h.

typedef ParticleFilterTracker<PointT, ParticleXYZRPY>::PointCloudStatePtr jsk_pcl_ros::ParticleFilterTracking::PointCloudStatePtr

Definition at line 550 of file particle_filter_tracking.h.

typedef pcl::PointXYZRGB jsk_pcl_ros::ParticleFilterTracking::PointT

Definition at line 541 of file particle_filter_tracking.h.

typedef message_filters::sync_policies::ExactTime< sensor_msgs::PointCloud2, sensor_msgs::PointCloud2 > jsk_pcl_ros::ParticleFilterTracking::SyncChangePolicy

Definition at line 548 of file particle_filter_tracking.h.

typedef message_filters::sync_policies::ExactTime< sensor_msgs::PointCloud2, jsk_recognition_msgs::BoundingBox > jsk_pcl_ros::ParticleFilterTracking::SyncPolicy

Definition at line 545 of file particle_filter_tracking.h.

Constructor & Destructor Documentation

jsk_pcl_ros::ParticleFilterTracking::ParticleFilterTracking ( ) [inline]

Definition at line 551 of file particle_filter_tracking.h.

Member Function Documentation

tf::Transform jsk_pcl_ros::ParticleFilterTracking::change_pointcloud_frame ( pcl::PointCloud< PointT >::Ptr cloud ) [protected, virtual]

Definition at line 430 of file particle_filter_tracking_nodelet.cpp.

void jsk_pcl_ros::ParticleFilterTracking::cloud_cb ( const sensor_msgs::PointCloud2 & pc ) [protected, virtual]

Definition at line 510 of file particle_filter_tracking_nodelet.cpp.

void jsk_pcl_ros::ParticleFilterTracking::cloud_change_cb	(	const sensor_msgs::PointCloud2::ConstPtr &	pc,
		const sensor_msgs::PointCloud2::ConstPtr &	chnage_cloud
	)		`[protected, virtual]`

Definition at line 465 of file particle_filter_tracking_nodelet.cpp.

void jsk_pcl_ros::ParticleFilterTracking::config_callback	(	Config &	config,
		uint32_t	level
	)		`[protected, virtual]`

Definition at line 236 of file particle_filter_tracking_nodelet.cpp.

void jsk_pcl_ros::ParticleFilterTracking::onInit ( void ) [private, virtual]

Definition at line 52 of file particle_filter_tracking_nodelet.cpp.

void jsk_pcl_ros::ParticleFilterTracking::publish_particles ( ) [protected, virtual]

Definition at line 272 of file particle_filter_tracking_nodelet.cpp.

void jsk_pcl_ros::ParticleFilterTracking::publish_result ( ) [protected, virtual]

Definition at line 296 of file particle_filter_tracking_nodelet.cpp.

void jsk_pcl_ros::ParticleFilterTracking::publish_tracker_status	(	const std_msgs::Header &	header,
		const bool	is_tracking
	)		`[protected, virtual]`

Definition at line 456 of file particle_filter_tracking_nodelet.cpp.

std::string jsk_pcl_ros::ParticleFilterTracking::reference_frame_id ( ) [protected, virtual]

Definition at line 371 of file particle_filter_tracking_nodelet.cpp.

bool jsk_pcl_ros::ParticleFilterTracking::renew_model_cb	(	jsk_recognition_msgs::SetPointCloud2::Request &	req,
		jsk_recognition_msgs::SetPointCloud2::Response &	response
	)		`[protected, virtual]`

Definition at line 585 of file particle_filter_tracking_nodelet.cpp.

void jsk_pcl_ros::ParticleFilterTracking::renew_model_topic_cb ( const sensor_msgs::PointCloud2 & pc ) [protected, virtual]

Definition at line 540 of file particle_filter_tracking_nodelet.cpp.

void jsk_pcl_ros::ParticleFilterTracking::renew_model_with_box_topic_cb	(	const sensor_msgs::PointCloud2::ConstPtr &	pc_ptr,
		const jsk_recognition_msgs::BoundingBox::ConstPtr &	bb_ptr
	)		`[protected, virtual]`

Definition at line 573 of file particle_filter_tracking_nodelet.cpp.

void jsk_pcl_ros::ParticleFilterTracking::renew_model_with_marker_topic_cb ( const visualization_msgs::Marker & marker ) [protected, virtual]

Definition at line 550 of file particle_filter_tracking_nodelet.cpp.

void jsk_pcl_ros::ParticleFilterTracking::reset_tracking_target_model ( const pcl::PointCloud< PointT >::ConstPtr & new_target_cloud ) [protected, virtual]

Definition at line 381 of file particle_filter_tracking_nodelet.cpp.

virtual double jsk_pcl_ros::ParticleFilterTracking::rms ( boost::circular_buffer< double > & buffer ) [inline, protected, virtual]

Definition at line 633 of file particle_filter_tracking.h.

virtual void jsk_pcl_ros::ParticleFilterTracking::subscribe ( ) [inline, protected, virtual]

Definition at line 686 of file particle_filter_tracking.h.

void jsk_pcl_ros::ParticleFilterTracking::tracker_compute ( ) [protected, virtual]

Definition at line 798 of file particle_filter_tracking_nodelet.cpp.

ParticleFilterTracking::PointCloudStatePtr jsk_pcl_ros::ParticleFilterTracking::tracker_get_particles ( ) [protected, virtual]

Definition at line 723 of file particle_filter_tracking_nodelet.cpp.

pcl::PointCloud< ParticleFilterTracking::PointT >::ConstPtr jsk_pcl_ros::ParticleFilterTracking::tracker_get_reference_cloud ( ) [protected, virtual]

Definition at line 755 of file particle_filter_tracking_nodelet.cpp.

ParticleXYZRPY jsk_pcl_ros::ParticleFilterTracking::tracker_get_result ( ) [protected, virtual]

Definition at line 733 of file particle_filter_tracking_nodelet.cpp.

void jsk_pcl_ros::ParticleFilterTracking::tracker_reset_tracking ( ) [protected, virtual]

Definition at line 778 of file particle_filter_tracking_nodelet.cpp.

void jsk_pcl_ros::ParticleFilterTracking::tracker_set_bin_size ( const ParticleXYZRPY bin_size ) [protected, virtual]

Definition at line 714 of file particle_filter_tracking_nodelet.cpp.

void jsk_pcl_ros::ParticleFilterTracking::tracker_set_cloud_coherence ( ApproxNearestPairPointCloudCoherence< PointT >::Ptr coherence ) [protected, virtual]

Definition at line 682 of file particle_filter_tracking_nodelet.cpp.

void jsk_pcl_ros::ParticleFilterTracking::tracker_set_delta ( double delta ) [protected, virtual]

Definition at line 700 of file particle_filter_tracking_nodelet.cpp.

void jsk_pcl_ros::ParticleFilterTracking::tracker_set_epsilon ( double epsilon ) [protected, virtual]

Definition at line 707 of file particle_filter_tracking_nodelet.cpp.

void jsk_pcl_ros::ParticleFilterTracking::tracker_set_initial_noise_covariance ( const std::vector< double > & covariance ) [protected, virtual]

Definition at line 620 of file particle_filter_tracking_nodelet.cpp.

void jsk_pcl_ros::ParticleFilterTracking::tracker_set_initial_noise_mean ( const std::vector< double > & mean ) [protected, virtual]

Definition at line 631 of file particle_filter_tracking_nodelet.cpp.

void jsk_pcl_ros::ParticleFilterTracking::tracker_set_input_cloud ( pcl::PointCloud< PointT >::Ptr input ) [protected, virtual]