KLDAdaptiveParticleFilterOMPTracker tracks the PointCloud which is given by setReferenceCloud within the measured PointCloud using particle filter method. More...
#include <pcl/tracking/kld_adaptive_particle_filter_omp.h>
Public Types | |
| typedef Tracker< PointInT, StateT > | BaseClass |
| typedef Tracker< PointInT, StateT >::PointCloudIn | PointCloudIn |
| typedef PointCloudIn::Ptr | PointCloudInPtr |
| typedef PointCloudIn::ConstPtr | PointCloudInConstPtr |
| typedef Tracker< PointInT, StateT >::PointCloudState | PointCloudState |
| typedef PointCloudState::Ptr | PointCloudStatePtr |
| typedef PointCloudState::ConstPtr | PointCloudStateConstPtr |
| typedef PointCoherence< PointInT > | Coherence |
| typedef boost::shared_ptr < Coherence > | CoherencePtr |
| typedef boost::shared_ptr < const Coherence > | CoherenceConstPtr |
| typedef PointCloudCoherence < PointInT > | CloudCoherence |
| typedef boost::shared_ptr < CloudCoherence > | CloudCoherencePtr |
| typedef boost::shared_ptr < const CloudCoherence > | CloudCoherenceConstPtr |
Public Member Functions | |
| KLDAdaptiveParticleFilterOMPTracker (unsigned int nr_threads=0) | |
| Initialize the scheduler and set the number of threads to use. | |
| void | setNumberOfThreads (unsigned int nr_threads=0) |
| Initialize the scheduler and set the number of threads to use. | |
Protected Member Functions | |
| virtual void | weight () |
| weighting phase of particle filter method. | |
Protected Attributes | |
| unsigned int | threads_ |
| The number of threads the scheduler should use. | |
KLDAdaptiveParticleFilterOMPTracker 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]. and the computation of the weights of the particles is parallelized using OpenMP.
Definition at line 20 of file kld_adaptive_particle_filter_omp.h.
| typedef Tracker<PointInT, StateT> pcl::tracking::KLDAdaptiveParticleFilterOMPTracker< PointInT, StateT >::BaseClass |
Reimplemented from pcl::tracking::KLDAdaptiveParticleFilterTracker< PointInT, StateT >.
Definition at line 48 of file kld_adaptive_particle_filter_omp.h.
| typedef PointCloudCoherence<PointInT> pcl::tracking::KLDAdaptiveParticleFilterOMPTracker< PointInT, StateT >::CloudCoherence |
Reimplemented from pcl::tracking::KLDAdaptiveParticleFilterTracker< PointInT, StateT >.
Definition at line 62 of file kld_adaptive_particle_filter_omp.h.
| typedef boost::shared_ptr< const CloudCoherence > pcl::tracking::KLDAdaptiveParticleFilterOMPTracker< PointInT, StateT >::CloudCoherenceConstPtr |
Reimplemented from pcl::tracking::KLDAdaptiveParticleFilterTracker< PointInT, StateT >.
Definition at line 64 of file kld_adaptive_particle_filter_omp.h.
| typedef boost::shared_ptr< CloudCoherence > pcl::tracking::KLDAdaptiveParticleFilterOMPTracker< PointInT, StateT >::CloudCoherencePtr |
Reimplemented from pcl::tracking::KLDAdaptiveParticleFilterTracker< PointInT, StateT >.
Definition at line 63 of file kld_adaptive_particle_filter_omp.h.
| typedef PointCoherence<PointInT> pcl::tracking::KLDAdaptiveParticleFilterOMPTracker< PointInT, StateT >::Coherence |
Reimplemented from pcl::tracking::KLDAdaptiveParticleFilterTracker< PointInT, StateT >.
Definition at line 58 of file kld_adaptive_particle_filter_omp.h.
| typedef boost::shared_ptr< const Coherence > pcl::tracking::KLDAdaptiveParticleFilterOMPTracker< PointInT, StateT >::CoherenceConstPtr |
Reimplemented from pcl::tracking::KLDAdaptiveParticleFilterTracker< PointInT, StateT >.
Definition at line 60 of file kld_adaptive_particle_filter_omp.h.
| typedef boost::shared_ptr< Coherence > pcl::tracking::KLDAdaptiveParticleFilterOMPTracker< PointInT, StateT >::CoherencePtr |
Reimplemented from pcl::tracking::KLDAdaptiveParticleFilterTracker< PointInT, StateT >.
Definition at line 59 of file kld_adaptive_particle_filter_omp.h.
| typedef Tracker<PointInT, StateT>::PointCloudIn pcl::tracking::KLDAdaptiveParticleFilterOMPTracker< PointInT, StateT >::PointCloudIn |
Reimplemented from pcl::tracking::KLDAdaptiveParticleFilterTracker< PointInT, StateT >.
Definition at line 50 of file kld_adaptive_particle_filter_omp.h.
| typedef PointCloudIn::ConstPtr pcl::tracking::KLDAdaptiveParticleFilterOMPTracker< PointInT, StateT >::PointCloudInConstPtr |
Reimplemented from pcl::tracking::KLDAdaptiveParticleFilterTracker< PointInT, StateT >.
Definition at line 52 of file kld_adaptive_particle_filter_omp.h.
| typedef PointCloudIn::Ptr pcl::tracking::KLDAdaptiveParticleFilterOMPTracker< PointInT, StateT >::PointCloudInPtr |
Reimplemented from pcl::tracking::KLDAdaptiveParticleFilterTracker< PointInT, StateT >.
Definition at line 51 of file kld_adaptive_particle_filter_omp.h.
| typedef Tracker<PointInT, StateT>::PointCloudState pcl::tracking::KLDAdaptiveParticleFilterOMPTracker< PointInT, StateT >::PointCloudState |
Reimplemented from pcl::tracking::KLDAdaptiveParticleFilterTracker< PointInT, StateT >.
Definition at line 54 of file kld_adaptive_particle_filter_omp.h.
| typedef PointCloudState::ConstPtr pcl::tracking::KLDAdaptiveParticleFilterOMPTracker< PointInT, StateT >::PointCloudStateConstPtr |
Reimplemented from pcl::tracking::KLDAdaptiveParticleFilterTracker< PointInT, StateT >.
Definition at line 56 of file kld_adaptive_particle_filter_omp.h.
| typedef PointCloudState::Ptr pcl::tracking::KLDAdaptiveParticleFilterOMPTracker< PointInT, StateT >::PointCloudStatePtr |
Reimplemented from pcl::tracking::KLDAdaptiveParticleFilterTracker< PointInT, StateT >.
Definition at line 55 of file kld_adaptive_particle_filter_omp.h.
| pcl::tracking::KLDAdaptiveParticleFilterOMPTracker< PointInT, StateT >::KLDAdaptiveParticleFilterOMPTracker | ( | unsigned int | nr_threads = 0 |
) | [inline] |
Initialize the scheduler and set the number of threads to use.
| nr_threads | the number of hardware threads to use (0 sets the value back to automatic) |
Definition at line 69 of file kld_adaptive_particle_filter_omp.h.
References pcl::tracking::Tracker< PointInT, StateT >::tracker_name_.
| void pcl::tracking::KLDAdaptiveParticleFilterOMPTracker< PointInT, StateT >::setNumberOfThreads | ( | unsigned int | nr_threads = 0 |
) | [inline] |
Initialize the scheduler and set the number of threads to use.
| nr_threads | the number of hardware threads to use (0 sets the value back to automatic) |
Definition at line 80 of file kld_adaptive_particle_filter_omp.h.
References pcl::tracking::KLDAdaptiveParticleFilterOMPTracker< PointInT, StateT >::threads_.
| void pcl::tracking::KLDAdaptiveParticleFilterOMPTracker< PointInT, StateT >::weight | ( | ) | [inline, protected, virtual] |
weighting phase of particle filter method.
calculate the likelihood of all of the particles and set the weights.
Reimplemented from pcl::tracking::ParticleFilterTracker< PointInT, StateT >.
Definition at line 7 of file kld_adaptive_particle_filter_omp.hpp.
References pcl::tracking::ParticleFilterTracker< PointInT, StateT >::change_counter_, pcl::tracking::ParticleFilterTracker< PointInT, StateT >::change_detector_interval_, pcl::tracking::ParticleFilterTracker< PointInT, StateT >::changed_, pcl::tracking::ParticleFilterTracker< PointInT, StateT >::coherence_, pcl::tracking::ParticleFilterTracker< PointInT, StateT >::computeTransformedPointCloudWithNormal(), pcl::tracking::ParticleFilterTracker< PointInT, StateT >::computeTransformedPointCloudWithoutNormal(), pcl::tracking::ParticleFilterTracker< PointInT, StateT >::cropInputPointCloud(), pcl::PCLBase< PointInT >::input_, pcl::tracking::ParticleFilterTracker< PointInT, StateT >::normalizeWeight(), pcl::tracking::ParticleFilterTracker< PointInT, StateT >::particle_num_, pcl::tracking::ParticleFilterTracker< PointInT, StateT >::particles_, pcl::tracking::ParticleFilterTracker< PointInT, StateT >::testChangeDetection(), pcl::tracking::ParticleFilterTracker< PointInT, StateT >::transed_reference_vector_, pcl::tracking::ParticleFilterTracker< PointInT, StateT >::use_change_detector_, and pcl::tracking::ParticleFilterTracker< PointInT, StateT >::use_normal_.
unsigned int pcl::tracking::KLDAdaptiveParticleFilterOMPTracker< PointInT, StateT >::threads_ [protected] |
The number of threads the scheduler should use.
Definition at line 84 of file kld_adaptive_particle_filter_omp.h.
Referenced by pcl::tracking::KLDAdaptiveParticleFilterOMPTracker< PointInT, StateT >::setNumberOfThreads().
