Point Cloud Library (PCL)  1.11.0
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kld_adaptive_particle_filter_omp.h
1 #pragma once
2 
3 #include <pcl/tracking/tracking.h>
4 #include <pcl/tracking/kld_adaptive_particle_filter.h>
5 #include <pcl/tracking/coherence.h>
6 
7 namespace pcl
8 {
9  namespace tracking
10  {
11  /** \brief @b KLDAdaptiveParticleFilterOMPTracker tracks the PointCloud which is given by
12  setReferenceCloud within the measured PointCloud using particle filter method.
13  The number of the particles changes adaptively based on KLD sampling [D. Fox, NIPS-01], [D.Fox, IJRR03].
14  and the computation of the weights of the particles is parallelized using OpenMP.
15  * \author Ryohei Ueda
16  * \ingroup tracking
17  */
18  template <typename PointInT, typename StateT>
20  {
21  public:
42  //using KLDAdaptiveParticleFilterTracker<PointInT, StateT>::calcLikelihood;
46 
48 
49  using Ptr = shared_ptr<KLDAdaptiveParticleFilterOMPTracker<PointInT, StateT>>;
50  using ConstPtr = 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 back to automatic)
70  */
71  KLDAdaptiveParticleFilterOMPTracker (unsigned int nr_threads = 0)
72  : KLDAdaptiveParticleFilterTracker<PointInT, StateT> ()
73  {
74  tracker_name_ = "KLDAdaptiveParticleFilterOMPTracker";
75 
76  setNumberOfThreads(nr_threads);
77  }
78 
79  /** \brief Initialize the scheduler and set the number of threads to use.
80  * \param nr_threads the number of hardware threads to use (0 sets the value back to automatic)
81  */
82  void
83  setNumberOfThreads (unsigned int nr_threads = 0);
84 
85  protected:
86  /** \brief The number of threads the scheduler should use. */
87  unsigned int threads_;
88 
89  /** \brief weighting phase of particle filter method.
90  calculate the likelihood of all of the particles and set the weights.
91  */
92  void weight () override;
93 
94  };
95  }
96 }
97 
98 //#include <pcl/tracking/impl/particle_filter_omp.hpp>
99 #ifdef PCL_NO_PRECOMPILE
100 #include <pcl/tracking/impl/kld_adaptive_particle_filter_omp.hpp>
101 #endif
void weight() override
weighting phase of particle filter method.
KLDAdaptiveParticleFilterTracker tracks the PointCloud which is given by setReferenceCloud within the...
typename PointCloudState::ConstPtr PointCloudStateConstPtr
typename Tracker< PointInT, StateT >::PointCloudIn PointCloudIn
shared_ptr< KLDAdaptiveParticleFilterTracker< PointInT, StateT >> Ptr
void setNumberOfThreads(unsigned int nr_threads=0)
Initialize the scheduler and set the number of threads to use.
KLDAdaptiveParticleFilterOMPTracker tracks the PointCloud which is given by setReferenceCloud within ...
shared_ptr< const KLDAdaptiveParticleFilterTracker< PointInT, StateT >> ConstPtr
typename Tracker< PointInT, StateT >::PointCloudState PointCloudState
shared_ptr< PointCoherence< PointInT > > Ptr
Definition: coherence.h:19
shared_ptr< const PointCoherence< PointInT > > ConstPtr
Definition: coherence.h:20
PointCoherence is a base class to compute coherence between the two points.
Definition: coherence.h:16
shared_ptr< PointCloudCoherence< PointInT > > Ptr
Definition: coherence.h:62
PointCloudCoherence is a base class to compute coherence between the two PointClouds.
Definition: coherence.h:59
Tracker represents the base tracker class.
Definition: tracker.h:57
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.
shared_ptr< const PointCloudCoherence< PointInT > > ConstPtr
Definition: coherence.h:63
std::string tracker_name_
The tracker name.
Definition: tracker.h:93