Point Cloud Library (PCL) 1.12.0
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kld_adaptive_particle_filter_omp.h
1#pragma once
2
3#include <pcl/tracking/coherence.h>
4#include <pcl/tracking/kld_adaptive_particle_filter.h>
5#include <pcl/tracking/tracking.h>
6
7namespace pcl {
8namespace tracking {
9/** \brief @b KLDAdaptiveParticleFilterOMPTracker tracks the PointCloud which is given
10 * by setReferenceCloud within the measured PointCloud using particle filter method. The
11 * number of the particles changes adaptively based on KLD sampling [D. Fox, NIPS-01],
12 * [D.Fox, IJRR03]. and the computation of the weights of the particles is parallelized
13 * using OpenMP.
14 * \author Ryohei Ueda
15 * \ingroup tracking
16 */
17template <typename PointInT, typename StateT>
19: public KLDAdaptiveParticleFilterTracker<PointInT, StateT> {
20public:
21 using Tracker<PointInT, StateT>::tracker_name_;
22 using Tracker<PointInT, StateT>::search_;
23 using Tracker<PointInT, StateT>::input_;
24 using Tracker<PointInT, StateT>::indices_;
25 using Tracker<PointInT, StateT>::getClassName;
31 using KLDAdaptiveParticleFilterTracker<PointInT, StateT>::pass_x_;
32 using KLDAdaptiveParticleFilterTracker<PointInT, StateT>::pass_y_;
33 using KLDAdaptiveParticleFilterTracker<PointInT, StateT>::pass_z_;
34 using KLDAdaptiveParticleFilterTracker<PointInT, StateT>::alpha_;
35 using KLDAdaptiveParticleFilterTracker<PointInT, StateT>::changed_;
41 // using KLDAdaptiveParticleFilterTracker<PointInT, StateT>::calcLikelihood;
45
47
48 using Ptr = shared_ptr<KLDAdaptiveParticleFilterOMPTracker<PointInT, StateT>>;
49 using ConstPtr =
50 shared_ptr<const KLDAdaptiveParticleFilterOMPTracker<PointInT, StateT>>;
51
53 using PointCloudInPtr = typename PointCloudIn::Ptr;
54 using PointCloudInConstPtr = typename PointCloudIn::ConstPtr;
55
57 using PointCloudStatePtr = typename PointCloudState::Ptr;
58 using PointCloudStateConstPtr = typename PointCloudState::ConstPtr;
59
61 using CoherencePtr = typename Coherence::Ptr;
63
67
68 /** \brief Initialize the scheduler and set the number of threads to use.
69 * \param nr_threads the number of hardware threads to use (0 sets the value
70 * back to automatic)
71 */
72 KLDAdaptiveParticleFilterOMPTracker(unsigned int nr_threads = 0)
73 : KLDAdaptiveParticleFilterTracker<PointInT, StateT>()
74 {
75 tracker_name_ = "KLDAdaptiveParticleFilterOMPTracker";
76
77 setNumberOfThreads(nr_threads);
78 }
79
80 /** \brief Initialize the scheduler and set the number of threads to use.
81 * \param nr_threads the number of hardware threads to use (0 sets the value back to
82 * automatic)
83 */
84 void
85 setNumberOfThreads(unsigned int nr_threads = 0);
86
87protected:
88 /** \brief The number of threads the scheduler should use. */
89 unsigned int threads_;
90
91 /** \brief weighting phase of particle filter method. calculate the likelihood of all
92 * of the particles and set the weights.
93 */
94 void
95 weight() override;
96};
97} // namespace tracking
98} // namespace pcl
99
100//#include <pcl/tracking/impl/particle_filter_omp.hpp>
101#ifdef PCL_NO_PRECOMPILE
102#include <pcl/tracking/impl/kld_adaptive_particle_filter_omp.hpp>
103#endif
PointCloudConstPtr input_
The input point cloud dataset.
Definition pcl_base.h:147
IndicesPtr indices_
A pointer to the vector of point indices to use.
Definition pcl_base.h:150
KLDAdaptiveParticleFilterOMPTracker tracks the PointCloud which is given by setReferenceCloud within ...
shared_ptr< KLDAdaptiveParticleFilterOMPTracker< PointInT, StateT > > Ptr
unsigned int threads_
The number of threads the scheduler should use.
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.
shared_ptr< const KLDAdaptiveParticleFilterOMPTracker< PointInT, StateT > > ConstPtr
void weight() override
weighting phase of particle filter method.
typename Tracker< PointInT, StateT >::PointCloudIn PointCloudIn
typename Tracker< PointInT, StateT >::PointCloudState PointCloudState
KLDAdaptiveParticleFilterTracker tracks the PointCloud which is given by setReferenceCloud within the...
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.
CloudCoherencePtr coherence_
A pointer to PointCloudCoherence.
bool changed_
A flag to be true when change of pointclouds is detected.
unsigned int change_detector_filter_
Minimum points in a leaf when calling change detector.
pcl::octree::OctreePointCloudChangeDetector< PointInT >::Ptr change_detector_
Change detector used as a trigger to track.
pcl::PassThrough< PointInT > pass_z_
Pass through filter to crop the pointclouds within the hypothesis bounding box.
std::vector< PointCloudInPtr > transed_reference_vector_
A list of the pointers to pointclouds.
pcl::PassThrough< PointInT > pass_y_
Pass through filter to crop the pointclouds within the hypothesis bounding box.
unsigned int change_counter_
A counter to skip change detection.
double alpha_
The weight to be used in normalization of the weights of the particles.
bool use_normal_
A flag to use normal or not.
PointCloudStatePtr particles_
A pointer to the particles
unsigned int change_detector_interval_
The number of interval frame to run change detection.
double normalizeParticleWeight(double w, double w_min, double w_max)
Normalize the weight of a particle using .
int particle_num_
The number of the particles.
pcl::PassThrough< PointInT > pass_x_
Pass through filter to crop the pointclouds within the hypothesis bounding box.
bool use_change_detector_
The flag which will be true if using change detection.
virtual void normalizeWeight()
Normalize the weights of all the particels.
PointCloudCoherence is a base class to compute coherence between the two PointClouds.
Definition coherence.h:59
shared_ptr< PointCloudCoherence< PointInT > > Ptr
Definition coherence.h:61
shared_ptr< const PointCloudCoherence< PointInT > > ConstPtr
Definition coherence.h:62
PointCoherence is a base class to compute coherence between the two points.
Definition coherence.h:15
shared_ptr< const PointCoherence< PointInT > > ConstPtr
Definition coherence.h:18
shared_ptr< PointCoherence< PointInT > > Ptr
Definition coherence.h:17
Tracker represents the base tracker class.
Definition tracker.h:55
const std::string & getClassName() const
Get a string representation of the name of this class.
Definition tracker.h:97
SearchPtr search_
A pointer to the spatial search object.
Definition tracker.h:93
std::string tracker_name_
The tracker name.
Definition tracker.h:90