Pyramidal Kanade Lucas Tomasi tracker. More...
#include <pcl/tracking/pyramidal_klt.h>
Public Member Functions |
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| PyramidalKLTTracker (int nb_levels=5, int tracking_window_width=7, int tracking_window_height=7) | |
| Constructor. More... |
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| ~PyramidalKLTTracker () | |
| Destructor. More... |
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| void | setNumberOfPyramidLevels (int levels) |
| Set the number of pyramid levels. More... |
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| int | getNumberOfPyramidLevels () const |
| void | setAccuracy (float accuracy) |
| Set accuracy. More... |
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| float | getAccuracy () const |
| void | setEpsilon (float epsilon) |
| Set epsilon. More... |
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| float | getEpsilon () const |
| void | setNumberOfKeypoints (std::size_t number) |
| Set the maximum number of points to track after sorting detected keypoints according to their response measure. More... |
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| std::size_t | getNumberOfKeypoints () |
| void | setTrackingWindowSize (int width, int height) |
| set the tracking window size More... |
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| void | setTrackingWindowWidth (int width) |
| Set tracking window width. More... |
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| int | getTrackingWindowWidth () |
| void | setTrackingWindowHeight (int height) |
| Set tracking window height. More... |
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| int | getTrackingWindowHeight () |
| void | setNumberOfThreads (unsigned int nr_threads=0) |
| Initialize the scheduler and set the number of threads to use. More... |
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| PointCloudInConstPtr | getReferenceCloud () const |
| Get a pointer of the cloud at t-1. More... |
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| void | setMaxIterationsNumber (unsigned int max) |
| Set the maximum number of iterations in the Lucas Kanade loop. More... |
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| unsigned int | getMaxIterationsNumber () const |
| void | setPointsToTrack (const pcl::PointIndicesConstPtr &points) |
| Provide a pointer to points to track. More... |
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| void | setPointsToTrack (const pcl::PointCloud< pcl::PointUV >::ConstPtr &points) |
| Provide a pointer to points to track. More... |
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| pcl::PointCloud< pcl::PointUV >::ConstPtr | getTrackedPoints () const |
| pcl::PointIndicesConstPtr | getPointsToTrackStatus () const |
| pcl::shared_ptr< const std::vector< int > > | getStatusOfPointsToTrack () const |
| Eigen::Affine3f | getResult () const override |
| Return the computed transformation from tracked points. More... |
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| bool | getInitialized () const |
 Public Member Functions inherited from pcl::tracking::Tracker< PointInT, Eigen::Affine3f > |
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| Tracker () | |
| Empty constructor. More... |
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| void | compute () |
| Base method for tracking for all points given in <setInputCloud (), setIndices ()> using the indices in setIndices () More... |
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| Public Member Functions inherited from pcl::PCLBase< PointInT > |
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| PCLBase () | |
| Empty constructor. More... |
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| PCLBase (const PCLBase &base) | |
| Copy constructor. More... |
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| virtual | ~PCLBase ()=default |
| Destructor. More... |
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| virtual void | setInputCloud (const PointCloudConstPtr &cloud) |
| Provide a pointer to the input dataset. More... |
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| const PointCloudConstPtr | getInputCloud () const |
| Get a pointer to the input point cloud dataset. More... |
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| virtual void | setIndices (const IndicesPtr &indices) |
| Provide a pointer to the vector of indices that represents the input data. More... |
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| virtual void | setIndices (const IndicesConstPtr &indices) |
| Provide a pointer to the vector of indices that represents the input data. More... |
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| virtual void | setIndices (const PointIndicesConstPtr &indices) |
| Provide a pointer to the vector of indices that represents the input data. More... |
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| virtual void | setIndices (std::size_t row_start, std::size_t col_start, std::size_t nb_rows, std::size_t nb_cols) |
| Set the indices for the points laying within an interest region of the point cloud. More... |
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| IndicesPtr | getIndices () |
| Get a pointer to the vector of indices used. More... |
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| const IndicesConstPtr | getIndices () const |
| Get a pointer to the vector of indices used. More... |
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| const PointInT & | operator[] (std::size_t pos) const |
| Override PointCloud operator[] to shorten code. More... |
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Protected Member Functions |
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| bool | initCompute () override |
| This method should get called before starting the actual computation. More... |
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| void | derivatives (const FloatImage &src, FloatImage &grad_x, FloatImage &grad_y) const |
| compute Scharr derivatives of a source cloud. More... |
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| void | downsample (const FloatImageConstPtr &input, FloatImageConstPtr &output) const |
| downsample input More... |
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| void | downsample (const FloatImageConstPtr &input, FloatImageConstPtr &output, FloatImageConstPtr &output_grad_x, FloatImageConstPtr &output_grad_y) const |
| downsample input and compute output gradients. More... |
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| void | convolve (const FloatImageConstPtr &input, FloatImage &output) const |
| Separately convolve image with decomposable convolution kernel. More... |
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| void | convolveCols (const FloatImageConstPtr &input, FloatImage &output) const |
| Convolve image columns. More... |
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| void | convolveRows (const FloatImageConstPtr &input, FloatImage &output) const |
| Convolve image rows. More... |
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| virtual void | spatialGradient (const FloatImage &img, const FloatImage &grad_x, const FloatImage &grad_y, const Eigen::Array2i &location, const Eigen::Array4f &weights, Eigen::ArrayXXf &win, Eigen::ArrayXXf &grad_x_win, Eigen::ArrayXXf &grad_y_win, Eigen::Array3f &covariance) const |
| extract the patch from the previous image, previous image gradients surrounding pixel alocation while interpolating image and gradients data and compute covariation matrix of derivatives. More... |
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| void | mismatchVector (const Eigen::ArrayXXf &prev, const Eigen::ArrayXXf &prev_grad_x, const Eigen::ArrayXXf &prev_grad_y, const FloatImage &next, const Eigen::Array2i &location, const Eigen::Array4f &weights, Eigen::Array2f &b) const |
| virtual void | computePyramids (const PointCloudInConstPtr &input, std::vector< FloatImageConstPtr > &pyramid, pcl::InterpolationType border_type) const |
| Compute the pyramidal representation of an image. More... |
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| virtual void | track (const PointCloudInConstPtr &previous_input, const PointCloudInConstPtr ¤t_input, const std::vector< FloatImageConstPtr > &previous_pyramid, const std::vector< FloatImageConstPtr > ¤t_pyramid, const pcl::PointCloud< pcl::PointUV >::ConstPtr &previous_keypoints, pcl::PointCloud< pcl::PointUV >::Ptr ¤t_keypoints, std::vector< int > &status, Eigen::Affine3f &motion) const |
| void | computeTracking () override |
| Abstract tracking method. More... |
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| Protected Member Functions inherited from pcl::tracking::Tracker< PointInT, Eigen::Affine3f > |
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| const std::string & | getClassName () const |
| Get a string representation of the name of this class. More... |
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| void | setSearchMethod (const SearchPtr &search) |
| Provide a pointer to a dataset to add additional information to estimate the features for every point in the input dataset. More... |
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| SearchPtr | getSearchMethod () |
| Get a pointer to the point cloud dataset. More... |
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| virtual Eigen::Affine3f | getResult () const=0 |
| Get an instance of the result of tracking. More... |
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| Protected Member Functions inherited from pcl::PCLBase< PointInT > |
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| bool | initCompute () |
| This method should get called before starting the actual computation. More... |
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| bool | deinitCompute () |
| This method should get called after finishing the actual computation. More... |
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Protected Attributes |
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| std::vector< FloatImageConstPtr > | ref_pyramid_ |
| input pyranid at t-1 More... |
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| PointCloudInConstPtr | ref_ |
| point cloud at t-1 More... |
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| int | nb_levels_ |
| number of pyramid levels More... |
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| pcl::PointCloud< pcl::PointUV >::ConstPtr | keypoints_ |
| detected keypoints 2D coordinates More... |
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| pcl::shared_ptr< std::vector< int > > | keypoints_status_ |
| status of keypoints of t-1 at t More... |
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| std::size_t | keypoints_nbr_ |
| number of points to detect More... |
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| int | track_width_ |
| tracking width More... |
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| int | track_width_2_ |
| half of tracking window width More... |
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| int | track_height_ |
| tracking height More... |
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| int | track_height_2_ |
| half of tracking window height More... |
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| unsigned int | max_iterations_ |
| maximum number of iterations More... |
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| float | accuracy_ |
| accuracy criterion to stop iterating More... |
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| float | min_eigenvalue_threshold_ |
| float | epsilon_ |
| epsilon for subpixel computation More... |
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| float | max_residue_ |
| unsigned int | threads_ |
| number of hardware threads More... |
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| IntensityT | intensity_ |
| intensity accessor More... |
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| bool | initialized_ |
| is the tracker initialized ? More... |
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| pcl::TransformationFromCorrespondences | transformation_computer_ |
| compute transformation from successfully tracked points More... |
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| Eigen::Affine3f | motion_ |
| computed transformation between tracked points More... |
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| Eigen::Array< float, 5, 1 > | kernel_ |
| smoothing kernel More... |
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| int | kernel_size_2_ |
| smoothing kernel half size More... |
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| int | kernel_last_ |
| index of last element in kernel More... |
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| Protected Attributes inherited from pcl::tracking::Tracker< PointInT, Eigen::Affine3f > |
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| std::string | tracker_name_ |
| The tracker name. More... |
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| SearchPtr | search_ |
| A pointer to the spatial search object. More... |
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| Protected Attributes inherited from pcl::PCLBase< PointInT > |
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| PointCloudConstPtr | input_ |
| The input point cloud dataset. More... |
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| IndicesPtr | indices_ |
| A pointer to the vector of point indices to use. More... |
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| bool | use_indices_ |
| Set to true if point indices are used. More... |
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| bool | fake_indices_ |
| If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud. More... |
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Detailed Description
template<typename PointInT, typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>
class pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >
Pyramidal Kanade Lucas Tomasi tracker.
This is an implementation of the Pyramidal Kanade Lucas Tomasi tracker that operates on organized 3D keypoints with color/intensity information (this is the default behaviour but you can alterate it by providing another operator as second template argument). It is an affine tracker that iteratively computes the optical flow to find the best guess for a point p at t given its location at t-1. User is advised to respect the Tomasi condition: the response computed is the maximum eigenvalue of the second moment matrix but no restrictin are applied to points to track so you can use a detector of your choice to indicate points to track.
Definition at line 64 of file pyramidal_klt.h.
Member Typedef Documentation
ConstPtr
| using pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::ConstPtr = shared_ptr<const PyramidalKLTTracker<PointInT, IntensityT> > |
Definition at line 74 of file pyramidal_klt.h.
FloatImage
| using pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::FloatImage = pcl::PointCloud<float> |
Definition at line 70 of file pyramidal_klt.h.
FloatImageConstPtr
| using pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::FloatImageConstPtr = FloatImage::ConstPtr |
Definition at line 72 of file pyramidal_klt.h.
FloatImagePtr
| using pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::FloatImagePtr = FloatImage::Ptr |
Definition at line 71 of file pyramidal_klt.h.
PointCloudIn
| using pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::PointCloudIn = typename TrackerBase::PointCloudIn |
Definition at line 67 of file pyramidal_klt.h.
PointCloudInConstPtr
| using pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::PointCloudInConstPtr = typename PointCloudIn::ConstPtr |
Definition at line 69 of file pyramidal_klt.h.
PointCloudInPtr
| using pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::PointCloudInPtr = typename PointCloudIn::Ptr |
Definition at line 68 of file pyramidal_klt.h.
Ptr
| using pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::Ptr = shared_ptr<PyramidalKLTTracker<PointInT, IntensityT> > |
Definition at line 73 of file pyramidal_klt.h.
TrackerBase
| using pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::TrackerBase = pcl::tracking::Tracker<PointInT, Eigen::Affine3f> |
Definition at line 66 of file pyramidal_klt.h.
Constructor & Destructor Documentation
PyramidalKLTTracker()
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inline |
Constructor.
Definition at line 81 of file pyramidal_klt.h.
References pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::accuracy_, pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::epsilon_, pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::kernel_, pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::kernel_last_, pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::kernel_size_2_, pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::keypoints_nbr_, pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::max_iterations_, pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::min_eigenvalue_threshold_, and pcl::tracking::Tracker< PointInT, Eigen::Affine3f >::tracker_name_.
~PyramidalKLTTracker()
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inline |
Destructor.
Definition at line 103 of file pyramidal_klt.h.
Member Function Documentation
computePyramids()
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protectedvirtual |
Compute the pyramidal representation of an image.
- Parameters
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[in] input the input cloud [out] pyramid computed pyramid levels along with their respective gradients [in] border_type
Definition at line 362 of file pyramidal_klt.hpp.
References pcl::BORDER_CONSTANT, and pcl::copyPointCloud().
computeTracking()
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overrideprotectedvirtual |
Abstract tracking method.
Implements pcl::tracking::Tracker< PointInT, Eigen::Affine3f >.
Definition at line 711 of file pyramidal_klt.hpp.
References pcl::BORDER_REFLECT_101, and pcl::PointCloud< PointT >::reserve().
convolve()
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protected |
Separately convolve image with decomposable convolution kernel.
- Parameters
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[in] input input the image to convolve [out] output output the convolved image
Definition at line 282 of file pyramidal_klt.hpp.
convolveCols()
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protected |
Convolve image columns.
- Parameters
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[in] input input the image to convolve [out] output output the convolved image
Definition at line 327 of file pyramidal_klt.hpp.
convolveRows()
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protected |
Convolve image rows.
- Parameters
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[in] input input the image to convolve [out] output output the convolved image
Definition at line 293 of file pyramidal_klt.hpp.
derivatives()
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protected |
compute Scharr derivatives of a source cloud.
- Parameters
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[in] src the image for which gradients are to be computed [out] grad_x image gradient along X direction [out] grad_y image gradient along Y direction
Definition at line 171 of file pyramidal_klt.hpp.
References pcl::PointCloud< PointT >::height, pcl::PointCloud< PointT >::size(), and pcl::PointCloud< PointT >::width.
downsample() [1/2]
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protected |
downsample input
- Parameters
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[in] input the image to downsample [out] output the downsampled image
Definition at line 233 of file pyramidal_klt.hpp.
References pcl::PointCloud< PointT >::height, and pcl::PointCloud< PointT >::width.
downsample() [2/2]
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protected |
downsample input and compute output gradients.
- Parameters
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[in] input the image to downsample [out] output the downsampled image [out] output_grad_x downsampled image gradient along X direction [out] output_grad_y downsampled image gradient along Y direction
Definition at line 265 of file pyramidal_klt.hpp.
getAccuracy()
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inline |
- Returns
- the accuracy
Definition at line 132 of file pyramidal_klt.h.
References pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::accuracy_.
getEpsilon()
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inline |
- Returns
- the epsilon
Definition at line 148 of file pyramidal_klt.h.
References pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::epsilon_.
getInitialized()
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inline |
- Returns
- initialization state
Definition at line 294 of file pyramidal_klt.h.
References pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::initialized_.
getMaxIterationsNumber()
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inline |
- Returns
- the maximum iterations number
Definition at line 233 of file pyramidal_klt.h.
References pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::max_iterations_.
getNumberOfKeypoints()
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inline |
- Returns
- the maximum number of keypoints to keep
Definition at line 165 of file pyramidal_klt.h.
References pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::keypoints_nbr_.
getNumberOfPyramidLevels()
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inline |
- Returns
- the number of pyramid levels
Definition at line 116 of file pyramidal_klt.h.
References pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::nb_levels_.
getPointsToTrackStatus()
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inline |
- Returns
- the status of points to track. Status == 0 --> points successfully tracked; Status < 0 --> point is lost; Status == -1 --> point is out of bond; Status == -2 --> optical flow can not be computed for this point.
- Deprecated:
-
Scheduled for removal in version 1 . 15 : "use getStatusOfPointsToTrack instead"
Definition at line 265 of file pyramidal_klt.h.
References pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::keypoints_status_.
getReferenceCloud()
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inline |
Get a pointer of the cloud at t-1.
Definition at line 217 of file pyramidal_klt.h.
References pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::ref_.
getResult()
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inlineoverride |
Return the computed transformation from tracked points.
Definition at line 287 of file pyramidal_klt.h.
References pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::motion_.
getStatusOfPointsToTrack()
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inline |
- Returns
- the status of points to track. Status == 0 --> points successfully tracked; Status < 0 --> point is lost; Status == -1 --> point is out of bond; Status == -2 --> optical flow can not be computed for this point.
Definition at line 280 of file pyramidal_klt.h.
References pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::keypoints_status_.
getTrackedPoints()
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inline |
- Returns
- a pointer to the points successfully tracked.
Definition at line 252 of file pyramidal_klt.h.
References pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::keypoints_.
getTrackingWindowHeight()
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inline |
- Returns
- the tracking window size
Definition at line 200 of file pyramidal_klt.h.
References pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::track_height_.
getTrackingWindowWidth()
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inline |
- Returns
- the tracking window size
Definition at line 186 of file pyramidal_klt.h.
References pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::track_width_.
initCompute()
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overrideprotectedvirtual |
This method should get called before starting the actual computation.
Reimplemented from pcl::tracking::Tracker< PointInT, Eigen::Affine3f >.
Definition at line 98 of file pyramidal_klt.hpp.
References pcl::BORDER_REFLECT_101.
mismatchVector()
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protected |
Definition at line 516 of file pyramidal_klt.hpp.
References pcl::PointCloud< PointT >::width.
setAccuracy()
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inline |
Set accuracy.
- Parameters
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[in] accuracy desired accuracy.
Definition at line 125 of file pyramidal_klt.h.
References pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::accuracy_.
setEpsilon()
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inline |
Set epsilon.
- Parameters
-
[in] epsilon desired epsilon.
Definition at line 141 of file pyramidal_klt.h.
References pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::epsilon_.
setMaxIterationsNumber()
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inline |
Set the maximum number of iterations in the Lucas Kanade loop.
- Parameters
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[in] max the desired maximum number of iterations
Definition at line 226 of file pyramidal_klt.h.
References pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::max_iterations_.
setNumberOfKeypoints()
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inline |
Set the maximum number of points to track after sorting detected keypoints according to their response measure.
- Parameters
-
[in] number the desired number of points to detect.
Definition at line 158 of file pyramidal_klt.h.
References pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::keypoints_nbr_.
setNumberOfPyramidLevels()
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inline |
Set the number of pyramid levels.
- Parameters
-
levels desired number of pyramid levels
Definition at line 109 of file pyramidal_klt.h.
References pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::nb_levels_.
setNumberOfThreads()
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inline |
Initialize the scheduler and set the number of threads to use.
- Parameters
-
nr_threads the number of hardware threads to use (0 sets the value back to automatic).
Definition at line 210 of file pyramidal_klt.h.
References pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::threads_.
setPointsToTrack() [1/2]
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inline |
Provide a pointer to points to track.
- Parameters
-
points the const boost shared pointer to a PointIndices message
Definition at line 59 of file pyramidal_klt.hpp.
References pcl::PointCloud< PointT >::push_back(), pcl::PointCloud< PointT >::reserve(), pcl::PointCloud< PointT >::resize(), and pcl::PointCloud< PointT >::size().
setPointsToTrack() [2/2]
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inline |
Provide a pointer to points to track.
- Parameters
-
points the const boost shared pointer to a PointIndices message
Definition at line 79 of file pyramidal_klt.hpp.
References pcl::PointCloud< PointT >::push_back(), pcl::PointCloud< PointT >::reserve(), pcl::PointUV::u, and pcl::PointUV::v.
setTrackingWindowHeight()
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inline |
Set tracking window height.
Definition at line 193 of file pyramidal_klt.h.
References pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::track_height_.
setTrackingWindowSize()
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inline |
set the tracking window size
- Parameters
-
[in] width the tracking window width [in] height the tracking window height
Definition at line 50 of file pyramidal_klt.hpp.
setTrackingWindowWidth()
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inline |
Set tracking window width.
Definition at line 179 of file pyramidal_klt.h.
References pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::track_width_.
spatialGradient()
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protectedvirtual |
extract the patch from the previous image, previous image gradients surrounding pixel alocation while interpolating image and gradients data and compute covariation matrix of derivatives.
- Parameters
-
[in] img original image [in] grad_x original image gradient along X direction [in] grad_y original image gradient along Y direction [in] location pixel at the center of the patch [in] weights bilinear interpolation weights at this location computed from subpixel location [out] win patch with interpolated intensity values [out] grad_x_win patch with interpolated gradient along X values [out] grad_y_win patch with interpolated gradient along Y values [out] covariance covariance matrix coefficients
!! store those
Definition at line 472 of file pyramidal_klt.hpp.
References pcl::PointCloud< PointT >::width.
track()
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protectedvirtual |
Definition at line 546 of file pyramidal_klt.hpp.
References pcl::TransformationFromCorrespondences::add(), pcl::TransformationFromCorrespondences::getTransformation(), pcl::PointCloud< PointT >::height, pcl::PointCloud< PointT >::push_back(), pcl::PointCloud< PointT >::size(), pcl::PointUV::u, pcl::PointUV::v, and pcl::PointCloud< PointT >::width.
Member Data Documentation
accuracy_
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protected |
accuracy criterion to stop iterating
Definition at line 431 of file pyramidal_klt.h.
Referenced by pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::getAccuracy(), pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::PyramidalKLTTracker(), and pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::setAccuracy().
epsilon_
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protected |
epsilon for subpixel computation
Definition at line 434 of file pyramidal_klt.h.
Referenced by pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::getEpsilon(), pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::PyramidalKLTTracker(), and pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::setEpsilon().
initialized_
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protected |
is the tracker initialized ?
Definition at line 441 of file pyramidal_klt.h.
Referenced by pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::getInitialized().
intensity_
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protected |
intensity accessor
Definition at line 439 of file pyramidal_klt.h.
kernel_
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protected |
smoothing kernel
Definition at line 447 of file pyramidal_klt.h.
Referenced by pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::PyramidalKLTTracker().
kernel_last_
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protected |
index of last element in kernel
Definition at line 451 of file pyramidal_klt.h.
Referenced by pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::PyramidalKLTTracker().
kernel_size_2_
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protected |
smoothing kernel half size
Definition at line 449 of file pyramidal_klt.h.
Referenced by pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::PyramidalKLTTracker().
keypoints_
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protected |
detected keypoints 2D coordinates
Definition at line 415 of file pyramidal_klt.h.
Referenced by pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::getTrackedPoints().
keypoints_nbr_
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protected |
number of points to detect
Definition at line 419 of file pyramidal_klt.h.
Referenced by pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::getNumberOfKeypoints(), pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::PyramidalKLTTracker(), and pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::setNumberOfKeypoints().
keypoints_status_
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protected |
status of keypoints of t-1 at t
Definition at line 417 of file pyramidal_klt.h.
Referenced by pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::getPointsToTrackStatus(), and pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::getStatusOfPointsToTrack().
max_iterations_
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protected |
maximum number of iterations
Definition at line 429 of file pyramidal_klt.h.
Referenced by pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::getMaxIterationsNumber(), pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::PyramidalKLTTracker(), and pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::setMaxIterationsNumber().
max_residue_
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protected |
Definition at line 435 of file pyramidal_klt.h.
min_eigenvalue_threshold_
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protected |
Definition at line 432 of file pyramidal_klt.h.
Referenced by pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::PyramidalKLTTracker().
motion_
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protected |
computed transformation between tracked points
Definition at line 445 of file pyramidal_klt.h.
Referenced by pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::getResult().
nb_levels_
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protected |
number of pyramid levels
Definition at line 413 of file pyramidal_klt.h.
Referenced by pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::getNumberOfPyramidLevels(), and pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::setNumberOfPyramidLevels().
ref_
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protected |
point cloud at t-1
Definition at line 411 of file pyramidal_klt.h.
Referenced by pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::getReferenceCloud().
ref_pyramid_
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protected |
input pyranid at t-1
Definition at line 409 of file pyramidal_klt.h.
threads_
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protected |
number of hardware threads
Definition at line 437 of file pyramidal_klt.h.
Referenced by pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::setNumberOfThreads().
track_height_
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protected |
tracking height
Definition at line 425 of file pyramidal_klt.h.
Referenced by pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::getTrackingWindowHeight(), and pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::setTrackingWindowHeight().
track_height_2_
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protected |
half of tracking window height
Definition at line 427 of file pyramidal_klt.h.
track_width_
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protected |
tracking width
Definition at line 421 of file pyramidal_klt.h.
Referenced by pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::getTrackingWindowWidth(), and pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::setTrackingWindowWidth().
track_width_2_
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protected |
half of tracking window width
Definition at line 423 of file pyramidal_klt.h.
transformation_computer_
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protected |
compute transformation from successfully tracked points
Definition at line 443 of file pyramidal_klt.h.
The documentation for this class was generated from the following files:
- pcl/tracking/pyramidal_klt.h
- pcl/tracking/impl/pyramidal_klt.hpp
© 2009–2012, Willow Garage, Inc.
© 2012–, Open Perception, Inc.
Licensed under the BSD License.
https://pointclouds.org/documentation/classpcl_1_1tracking_1_1_pyramidal_k_l_t_tracker.html
