KLDAdaptiveParticleFilterTracker tracks the PointCloud which is given by setReferenceCloud within the measured PointCloud using particle filter method. The number of the particles changes adaptively based on KLD sampling [D. Fox, NIPS-01], [D.Fox, IJRR03]. More...
#include <kld_adaptive_particle_filter.h>
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 | |
| StateT | getBinSize () const |
| get the bin size. | |
| double | getDelta () const |
| get delta to be used in chi-squared distribution. | |
| double | getEpsilon () const |
| get epsilon to be used to calc K-L boundary. | |
| unsigned int | getMaximumParticleNum () const |
| get the maximum number of the particles. | |
| KLDAdaptiveParticleFilterTracker () | |
| Empty constructor. | |
| void | setBinSize (const StateT &bin_size) |
| set the bin size. | |
| void | setDelta (double delta) |
| set delta to be used in chi-squared distribution. | |
| void | setEpsilon (double eps) |
| set epsilon to be used to calc K-L boundary. | |
| void | setMaximumParticleNum (unsigned int nr) |
| set the maximum number of the particles. | |
Protected Member Functions | |
| virtual double | calcKLBound (int k) |
| calculate K-L boundary. K-L boundary follows 1/2e*chi(k-1, 1-d)^2. | |
| virtual bool | equalBin (std::vector< int > a, std::vector< int > b) |
| return true if the two bins are equal. | |
| virtual bool | initCompute () |
| This method should get called before starting the actual computation. | |
| virtual bool | insertIntoBins (std::vector< int > bin, std::vector< std::vector< int > > &B) |
| insert a bin into the set of the bins. if that bin is already registered, return false. if not, return true. | |
| double | normalQuantile (double u) |
| return upper quantile of standard normal distribution. | |
| 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. | |
Protected Attributes | |
| StateT | bin_size_ |
| the size of a bin. | |
| double | delta_ |
| probability of distance between K-L distance and MLE is less than epsilon_ | |
| double | epsilon_ |
| error between K-L distance and MLE | |
| unsigned int | maximum_particle_number_ |
| the maximum number of the particles. | |
Detailed Description
template<typename PointInT, typename StateT>
class pcl::tracking::KLDAdaptiveParticleFilterTracker< PointInT, StateT >
KLDAdaptiveParticleFilterTracker tracks the PointCloud which is given by setReferenceCloud within the measured PointCloud using particle filter method. The number of the particles changes adaptively based on KLD sampling [D. Fox, NIPS-01], [D.Fox, IJRR03].
Definition at line 20 of file kld_adaptive_particle_filter.h.
Member Typedef Documentation
| typedef Tracker<PointInT, StateT> pcl::tracking::KLDAdaptiveParticleFilterTracker< PointInT, StateT >::BaseClass |
Reimplemented from pcl::tracking::ParticleFilterTracker< PointInT, StateT >.
Reimplemented in pcl::tracking::KLDAdaptiveParticleFilterOMPTracker< PointInT, StateT >.
Definition at line 45 of file kld_adaptive_particle_filter.h.
| typedef PointCloudCoherence<PointInT> pcl::tracking::KLDAdaptiveParticleFilterTracker< PointInT, StateT >::CloudCoherence |
Reimplemented from pcl::tracking::ParticleFilterTracker< PointInT, StateT >.
Reimplemented in pcl::tracking::KLDAdaptiveParticleFilterOMPTracker< PointInT, StateT >.
Definition at line 59 of file kld_adaptive_particle_filter.h.
| typedef boost::shared_ptr< const CloudCoherence > pcl::tracking::KLDAdaptiveParticleFilterTracker< PointInT, StateT >::CloudCoherenceConstPtr |
Reimplemented from pcl::tracking::ParticleFilterTracker< PointInT, StateT >.
Reimplemented in pcl::tracking::KLDAdaptiveParticleFilterOMPTracker< PointInT, StateT >.
Definition at line 61 of file kld_adaptive_particle_filter.h.
| typedef boost::shared_ptr< CloudCoherence > pcl::tracking::KLDAdaptiveParticleFilterTracker< PointInT, StateT >::CloudCoherencePtr |
Reimplemented from pcl::tracking::ParticleFilterTracker< PointInT, StateT >.
Reimplemented in pcl::tracking::KLDAdaptiveParticleFilterOMPTracker< PointInT, StateT >.
Definition at line 60 of file kld_adaptive_particle_filter.h.
| typedef PointCoherence<PointInT> pcl::tracking::KLDAdaptiveParticleFilterTracker< PointInT, StateT >::Coherence |
Reimplemented from pcl::tracking::ParticleFilterTracker< PointInT, StateT >.
Reimplemented in pcl::tracking::KLDAdaptiveParticleFilterOMPTracker< PointInT, StateT >.
Definition at line 55 of file kld_adaptive_particle_filter.h.
| typedef boost::shared_ptr< const Coherence > pcl::tracking::KLDAdaptiveParticleFilterTracker< PointInT, StateT >::CoherenceConstPtr |
Reimplemented from pcl::tracking::ParticleFilterTracker< PointInT, StateT >.
Reimplemented in pcl::tracking::KLDAdaptiveParticleFilterOMPTracker< PointInT, StateT >.
Definition at line 57 of file kld_adaptive_particle_filter.h.
| typedef boost::shared_ptr< Coherence > pcl::tracking::KLDAdaptiveParticleFilterTracker< PointInT, StateT >::CoherencePtr |
Reimplemented from pcl::tracking::ParticleFilterTracker< PointInT, StateT >.
Reimplemented in pcl::tracking::KLDAdaptiveParticleFilterOMPTracker< PointInT, StateT >.
Definition at line 56 of file kld_adaptive_particle_filter.h.
| typedef Tracker<PointInT, StateT>::PointCloudIn pcl::tracking::KLDAdaptiveParticleFilterTracker< PointInT, StateT >::PointCloudIn |
Reimplemented from pcl::tracking::ParticleFilterTracker< PointInT, StateT >.
Reimplemented in pcl::tracking::KLDAdaptiveParticleFilterOMPTracker< PointInT, StateT >.
Definition at line 47 of file kld_adaptive_particle_filter.h.
| typedef PointCloudIn::ConstPtr pcl::tracking::KLDAdaptiveParticleFilterTracker< PointInT, StateT >::PointCloudInConstPtr |
Reimplemented from pcl::tracking::ParticleFilterTracker< PointInT, StateT >.
Reimplemented in pcl::tracking::KLDAdaptiveParticleFilterOMPTracker< PointInT, StateT >.
Definition at line 49 of file kld_adaptive_particle_filter.h.
| typedef PointCloudIn::Ptr pcl::tracking::KLDAdaptiveParticleFilterTracker< PointInT, StateT >::PointCloudInPtr |
Reimplemented from pcl::tracking::ParticleFilterTracker< PointInT, StateT >.
Reimplemented in pcl::tracking::KLDAdaptiveParticleFilterOMPTracker< PointInT, StateT >.
Definition at line 48 of file kld_adaptive_particle_filter.h.
| typedef Tracker<PointInT, StateT>::PointCloudState pcl::tracking::KLDAdaptiveParticleFilterTracker< PointInT, StateT >::PointCloudState |
Reimplemented from pcl::tracking::ParticleFilterTracker< PointInT, StateT >.
Reimplemented in pcl::tracking::KLDAdaptiveParticleFilterOMPTracker< PointInT, StateT >.
Definition at line 51 of file kld_adaptive_particle_filter.h.
| typedef PointCloudState::ConstPtr pcl::tracking::KLDAdaptiveParticleFilterTracker< PointInT, StateT >::PointCloudStateConstPtr |
Reimplemented from pcl::tracking::ParticleFilterTracker< PointInT, StateT >.
Reimplemented in pcl::tracking::KLDAdaptiveParticleFilterOMPTracker< PointInT, StateT >.
Definition at line 53 of file kld_adaptive_particle_filter.h.
| typedef PointCloudState::Ptr pcl::tracking::KLDAdaptiveParticleFilterTracker< PointInT, StateT >::PointCloudStatePtr |
Reimplemented from pcl::tracking::ParticleFilterTracker< PointInT, StateT >.
Reimplemented in pcl::tracking::KLDAdaptiveParticleFilterOMPTracker< PointInT, StateT >.
Definition at line 52 of file kld_adaptive_particle_filter.h.
Constructor & Destructor Documentation
| pcl::tracking::KLDAdaptiveParticleFilterTracker< PointInT, StateT >::KLDAdaptiveParticleFilterTracker | ( | ) | [inline] |
Empty constructor.
Definition at line 64 of file kld_adaptive_particle_filter.h.
Member Function Documentation
| virtual double pcl::tracking::KLDAdaptiveParticleFilterTracker< PointInT, StateT >::calcKLBound | ( | int | k | ) | [inline, protected, virtual] |
calculate K-L boundary. K-L boundary follows 1/2e*chi(k-1, 1-d)^2.
- Parameters:
-
[in] k the number of bins and the first parameter of chi distribution.
Definition at line 173 of file kld_adaptive_particle_filter.h.
| virtual bool pcl::tracking::KLDAdaptiveParticleFilterTracker< PointInT, StateT >::equalBin | ( | std::vector< int > | a, |
| std::vector< int > | b | ||
| ) | [inline, protected, virtual] |
return true if the two bins are equal.
- Parameters:
-
a index of the bin b index of the bin
Definition at line 113 of file kld_adaptive_particle_filter.h.
| StateT pcl::tracking::KLDAdaptiveParticleFilterTracker< PointInT, StateT >::getBinSize | ( | ) | const [inline] |
get the bin size.
Definition at line 80 of file kld_adaptive_particle_filter.h.
| double pcl::tracking::KLDAdaptiveParticleFilterTracker< PointInT, StateT >::getDelta | ( | ) | const [inline] |
get delta to be used in chi-squared distribution.
Definition at line 104 of file kld_adaptive_particle_filter.h.
| double pcl::tracking::KLDAdaptiveParticleFilterTracker< PointInT, StateT >::getEpsilon | ( | ) | const [inline] |
get epsilon to be used to calc K-L boundary.
Definition at line 96 of file kld_adaptive_particle_filter.h.
| unsigned int pcl::tracking::KLDAdaptiveParticleFilterTracker< PointInT, StateT >::getMaximumParticleNum | ( | ) | const [inline] |
get the maximum number of the particles.
Definition at line 88 of file kld_adaptive_particle_filter.h.
| bool pcl::tracking::KLDAdaptiveParticleFilterTracker< PointInT, StateT >::initCompute | ( | ) | [protected, virtual] |
This method should get called before starting the actual computation.
Reimplemented from pcl::tracking::ParticleFilterTracker< PointInT, StateT >.
Definition at line 5 of file kld_adaptive_particle_filter.hpp.
| bool pcl::tracking::KLDAdaptiveParticleFilterTracker< PointInT, StateT >::insertIntoBins | ( | std::vector< int > | bin, |
| std::vector< std::vector< int > > & | B | ||
| ) | [protected, virtual] |
insert a bin into the set of the bins. if that bin is already registered, return false. if not, return true.
- Parameters:
-
bin a bin to be inserted. B a set of the bins
Definition at line 35 of file kld_adaptive_particle_filter.hpp.
| double pcl::tracking::KLDAdaptiveParticleFilterTracker< PointInT, StateT >::normalQuantile | ( | double | u | ) | [inline, protected] |
return upper quantile of standard normal distribution.
- Parameters:
-
[in] u ratio of quantile.
Definition at line 126 of file kld_adaptive_particle_filter.h.
| void pcl::tracking::KLDAdaptiveParticleFilterTracker< 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 from pcl::tracking::ParticleFilterTracker< PointInT, StateT >.
Definition at line 47 of file kld_adaptive_particle_filter.hpp.
| void pcl::tracking::KLDAdaptiveParticleFilterTracker< PointInT, StateT >::setBinSize | ( | const StateT & | bin_size | ) | [inline] |
set the bin size.
- Parameters:
-
bin_size the size of a bin
Definition at line 77 of file kld_adaptive_particle_filter.h.
| void pcl::tracking::KLDAdaptiveParticleFilterTracker< PointInT, StateT >::setDelta | ( | double | delta | ) | [inline] |
set delta to be used in chi-squared distribution.
- Parameters:
-
delta delta of chi-squared distribution.
Definition at line 101 of file kld_adaptive_particle_filter.h.
| void pcl::tracking::KLDAdaptiveParticleFilterTracker< PointInT, StateT >::setEpsilon | ( | double | eps | ) | [inline] |
set epsilon to be used to calc K-L boundary.
- Parameters:
-
eps epsilon
Definition at line 93 of file kld_adaptive_particle_filter.h.
| void pcl::tracking::KLDAdaptiveParticleFilterTracker< PointInT, StateT >::setMaximumParticleNum | ( | unsigned int | nr | ) | [inline] |
set the maximum number of the particles.
- Parameters:
-
nr the maximum number of the particles.
Definition at line 85 of file kld_adaptive_particle_filter.h.
Member Data Documentation
StateT pcl::tracking::KLDAdaptiveParticleFilterTracker< PointInT, StateT >::bin_size_ [protected] |
the size of a bin.
Definition at line 209 of file kld_adaptive_particle_filter.h.
double pcl::tracking::KLDAdaptiveParticleFilterTracker< PointInT, StateT >::delta_ [protected] |
probability of distance between K-L distance and MLE is less than epsilon_
Definition at line 206 of file kld_adaptive_particle_filter.h.
double pcl::tracking::KLDAdaptiveParticleFilterTracker< PointInT, StateT >::epsilon_ [protected] |
error between K-L distance and MLE
Definition at line 203 of file kld_adaptive_particle_filter.h.
unsigned int pcl::tracking::KLDAdaptiveParticleFilterTracker< PointInT, StateT >::maximum_particle_number_ [protected] |
the maximum number of the particles.
Definition at line 200 of file kld_adaptive_particle_filter.h.
The documentation for this class was generated from the following files: