Pyramidal Kanade Lucas Tomasi tracker. More...

#include <pcl/tracking/pyramidal_klt.h>

Inheritance diagram for pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >:

Public Types
using	TrackerBase = pcl::tracking::Tracker<PointInT, Eigen::Affine3f>
using	PointCloudIn = typename TrackerBase::PointCloudIn
using	PointCloudInPtr = typename PointCloudIn::Ptr
using	PointCloudInConstPtr = typename PointCloudIn::ConstPtr
using	FloatImage = pcl::PointCloud<float>
using	FloatImagePtr = FloatImage::Ptr
using	FloatImageConstPtr = FloatImage::ConstPtr
using	Ptr = shared_ptr<PyramidalKLTTracker<PointInT, IntensityT>>
using	ConstPtr = shared_ptr<const PyramidalKLTTracker<PointInT, IntensityT>>
Public Types inherited from pcl::tracking::Tracker< PointInT, Eigen::Affine3f >
using	BaseClass
using	Ptr
using	ConstPtr
using	SearchPtr
using	SearchConstPtr
using	PointCloudIn
using	PointCloudInPtr
using	PointCloudInConstPtr
using	PointCloudState
using	PointCloudStatePtr
using	PointCloudStateConstPtr
Public Types inherited from pcl::PCLBase< PointInT >
using	PointCloud
using	PointCloudPtr
using	PointCloudConstPtr
using	PointIndicesPtr
using	PointIndicesConstPtr

Public Member Functions
	PyramidalKLTTracker (int nb_levels=5, int tracking_window_width=7, int tracking_window_height=7)
	Constructor.
	~PyramidalKLTTracker () override=default
	Destructor.
void	setNumberOfPyramidLevels (int levels)
	Set the number of pyramid levels.
int	getNumberOfPyramidLevels () const
void	setAccuracy (float accuracy)
	Set accuracy.
float	getAccuracy () const
void	setEpsilon (float epsilon)
	Set epsilon.
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.
std::size_t	getNumberOfKeypoints ()
void	setTrackingWindowSize (int width, int height)
	set the tracking window size
void	setTrackingWindowWidth (int width)
	Set tracking window width.
int	getTrackingWindowWidth ()
void	setTrackingWindowHeight (int height)
	Set tracking window height.
int	getTrackingWindowHeight ()
void	setNumberOfThreads (unsigned int nr_threads=0)
	Initialize the scheduler and set the number of threads to use.
PointCloudInConstPtr	getReferenceCloud () const
	Get a pointer of the cloud at t-1.
void	setMaxIterationsNumber (unsigned int max)
	Set the maximum number of iterations in the Lucas Kanade loop.
unsigned int	getMaxIterationsNumber () const
void	setPointsToTrack (const pcl::PointIndicesConstPtr &points)
	Provide a pointer to points to track.
void	setPointsToTrack (const pcl::PointCloud< pcl::PointUV >::ConstPtr &points)
	Provide a pointer to points to track.
pcl::PointCloud< pcl::PointUV >::ConstPtr	getTrackedPoints () const
pcl::shared_ptr< const std::vector< int > >	getStatusOfPointsToTrack () const
Eigen::Affine3f	getResult () const override
	Return the computed transformation from tracked points.
bool	getInitialized () const
Public Member Functions inherited from pcl::tracking::Tracker< PointInT, Eigen::Affine3f >
	Tracker ()
	Empty constructor.
void	compute ()
	Base method for tracking for all points given in <setInputCloud (), setIndices ()> using the indices in setIndices ().
Public Member Functions inherited from pcl::PCLBase< PointInT >
	PCLBase ()
	Empty constructor.
	PCLBase (const PCLBase &base)
	Copy constructor.
virtual	~PCLBase ()=default
	Destructor.
virtual void	setInputCloud (const PointCloudConstPtr &cloud)
	Provide a pointer to the input dataset.
PointCloudConstPtr const	getInputCloud () const
	Get a pointer to the input point cloud dataset.
virtual void	setIndices (const IndicesPtr &indices)
	Provide a pointer to the vector of indices that represents the input data.
virtual void	setIndices (const IndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data.
virtual void	setIndices (const PointIndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data.
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.
IndicesPtr	getIndices ()
	Get a pointer to the vector of indices used.
IndicesConstPtr const	getIndices () const
	Get a pointer to the vector of indices used.
const PointInT &	operator[] (std::size_t pos) const
	Override PointCloud operator[] to shorten code.

Public Attributes
std::string	tracker_name_
	The tracker name.

Protected Member Functions
bool	initCompute () override
	This method should get called before starting the actual computation.
void	derivatives (const FloatImage &src, FloatImage &grad_x, FloatImage &grad_y) const
	compute Scharr derivatives of a source cloud.
void	downsample (const FloatImageConstPtr &input, FloatImageConstPtr &output) const
	downsample input
void	downsample (const FloatImageConstPtr &input, FloatImageConstPtr &output, FloatImageConstPtr &output_grad_x, FloatImageConstPtr &output_grad_y) const
	downsample input and compute output gradients.
void	convolve (const FloatImageConstPtr &input, FloatImage &output) const
	Separately convolve image with decomposable convolution kernel.
void	convolveCols (const FloatImageConstPtr &input, FloatImage &output) const
	Convolve image columns.
void	convolveRows (const FloatImageConstPtr &input, FloatImage &output) const
	Convolve image rows.
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 allocation while interpolating image and gradients data and compute covariation matrix of derivatives.
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.
virtual void	track (const PointCloudInConstPtr &previous_input, const PointCloudInConstPtr &current_input, const std::vector< FloatImageConstPtr > &previous_pyramid, const std::vector< FloatImageConstPtr > &current_pyramid, const pcl::PointCloud< pcl::PointUV >::ConstPtr &previous_keypoints, pcl::PointCloud< pcl::PointUV >::Ptr &current_keypoints, std::vector< int > &status, Eigen::Affine3f &motion) const
void	computeTracking () override
	Abstract tracking method.
Protected Member Functions inherited from pcl::tracking::Tracker< PointInT, Eigen::Affine3f >
const std::string &	getClassName () const
	Get a string representation of the name of this class.
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.
SearchPtr	getSearchMethod ()
	Get a pointer to the point cloud dataset.
Protected Member Functions inherited from pcl::PCLBase< PointInT >
bool	initCompute ()
	This method should get called before starting the actual computation.
bool	deinitCompute ()
	This method should get called after finishing the actual computation.

Protected Attributes
std::vector< FloatImageConstPtr >	ref_pyramid_
	input pyranid at t-1
PointCloudInConstPtr	ref_
	point cloud at t-1
int	nb_levels_
	number of pyramid levels
pcl::PointCloud< pcl::PointUV >::ConstPtr	keypoints_
	detected keypoints 2D coordinates
pcl::shared_ptr< std::vector< int > >	keypoints_status_
	status of keypoints of t-1 at t
std::size_t	keypoints_nbr_
	number of points to detect
int	track_width_
	tracking width
int	track_width_2_
	half of tracking window width
int	track_height_
	tracking height
int	track_height_2_
	half of tracking window height
unsigned int	max_iterations_
	maximum number of iterations
float	accuracy_
	accuracy criterion to stop iterating
float	min_eigenvalue_threshold_
float	epsilon_
	epsilon for subpixel computation
float	max_residue_
unsigned int	threads_
	number of hardware threads
IntensityT	intensity_
	intensity accessor
bool	initialized_
	is the tracker initialized ?
pcl::TransformationFromCorrespondences	transformation_computer_
	compute transformation from successfully tracked points
Eigen::Affine3f	motion_
	computed transformation between tracked points
Eigen::Array< float, 5, 1 >	kernel_
	smoothing kernel
int	kernel_size_2_
	smoothing kernel half size
int	kernel_last_
	index of last element in kernel
Protected Attributes inherited from pcl::tracking::Tracker< PointInT, Eigen::Affine3f >
std::string	tracker_name_
	The tracker name.
SearchPtr	search_
	A pointer to the spatial search object.
Protected Attributes inherited from pcl::PCLBase< PointInT >
PointCloudConstPtr	input_
	The input point cloud dataset.
IndicesPtr	indices_
	A pointer to the vector of point indices to use.
bool	use_indices_
	Set to true if point indices are used.
bool	fake_indices_
	If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud.

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 alternate 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.

Author: Nizar Sallem

Definition at line 64 of file pyramidal_klt.h.

Member Typedef Documentation

◆ ConstPtr

template<typename PointInT, typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>

using pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::ConstPtr = shared_ptr<const PyramidalKLTTracker<PointInT, IntensityT>>

Definition at line 74 of file pyramidal_klt.h.

◆ FloatImage

template<typename PointInT, typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>

using pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::FloatImage = pcl::PointCloud<float>

Definition at line 70 of file pyramidal_klt.h.

◆ FloatImageConstPtr

template<typename PointInT, typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>

using pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::FloatImageConstPtr = FloatImage::ConstPtr

Definition at line 72 of file pyramidal_klt.h.

◆ FloatImagePtr

template<typename PointInT, typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>

using pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::FloatImagePtr = FloatImage::Ptr

Definition at line 71 of file pyramidal_klt.h.

◆ PointCloudIn

template<typename PointInT, typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>

using pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::PointCloudIn = typename TrackerBase::PointCloudIn

Definition at line 67 of file pyramidal_klt.h.

◆ PointCloudInConstPtr

template<typename PointInT, typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>

using pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::PointCloudInConstPtr = typename PointCloudIn::ConstPtr

Definition at line 69 of file pyramidal_klt.h.

◆ PointCloudInPtr

template<typename PointInT, typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>

using pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::PointCloudInPtr = typename PointCloudIn::Ptr

Definition at line 68 of file pyramidal_klt.h.

◆ Ptr

template<typename PointInT, typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>

using pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::Ptr = shared_ptr<PyramidalKLTTracker<PointInT, IntensityT>>

Definition at line 73 of file pyramidal_klt.h.

◆ TrackerBase

template<typename PointInT, typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>

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()

template<typename PointInT, typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>

pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::PyramidalKLTTracker	(	int	nb_levels = 5,
		int	tracking_window_width = 7,
		int	tracking_window_height = 7 )

inline

Constructor.

Definition at line 81 of file pyramidal_klt.h.

References accuracy_, epsilon_, initialized_, kernel_, kernel_last_, kernel_size_2_, keypoints_nbr_, max_iterations_, min_eigenvalue_threshold_, nb_levels_, ref_, threads_, track_height_, track_width_, and tracker_name_.

◆ ~PyramidalKLTTracker()

template<typename PointInT, typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>

pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::~PyramidalKLTTracker ( )

overridedefault

Destructor.

Member Function Documentation

◆ computePyramids()

template<typename PointInT, typename IntensityT>

void pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::computePyramids	(	const PointCloudInConstPtr &	input,
		std::vector< FloatImageConstPtr > &	pyramid,
		pcl::InterpolationType	border_type ) const

protectedvirtual

Compute the pyramidal representation of an image.

Parameters

[in]	input	the input cloud
[out]	pyramid	computed pyramid levels along with their respective gradients
[in]	border_type

Definition at line 364 of file pyramidal_klt.hpp.

References pcl::BORDER_CONSTANT, pcl::copyPointCloud(), derivatives(), downsample(), intensity_, nb_levels_, track_height_, and track_width_.

Referenced by computeTracking(), and initCompute().

◆ computeTracking()

template<typename PointInT, typename IntensityT>

void pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::computeTracking ( )

overrideprotectedvirtual

Abstract tracking method.

Implements pcl::tracking::Tracker< PointInT, Eigen::Affine3f >.

Definition at line 713 of file pyramidal_klt.hpp.

References pcl::BORDER_REFLECT_101, computePyramids(), initialized_, pcl::PCLBase< PointInT >::input_, keypoints_, keypoints_status_, motion_, ref_, ref_pyramid_, and track().

◆ convolve()

template<typename PointInT, typename IntensityT>

void pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::convolve	(	const FloatImageConstPtr &	input,
		FloatImage &	output ) const

protected

Separately convolve image with decomposable convolution kernel.

Parameters

[in]	input	input the image to convolve
[out]	output	output the convolved image

Definition at line 284 of file pyramidal_klt.hpp.

References convolveCols(), and convolveRows().

Referenced by downsample().

◆ convolveCols()

template<typename PointInT, typename IntensityT>

void pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::convolveCols	(	const FloatImageConstPtr &	input,
		FloatImage &	output ) const

protected

Convolve image columns.

Parameters

[in]	input	input the image to convolve
[out]	output	output the convolved image

Definition at line 329 of file pyramidal_klt.hpp.

References kernel_, kernel_last_, and kernel_size_2_.

Referenced by convolve().

◆ convolveRows()

template<typename PointInT, typename IntensityT>

void pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::convolveRows	(	const FloatImageConstPtr &	input,
		FloatImage &	output ) const

protected

Convolve image rows.

Parameters

[in]	input	input the image to convolve
[out]	output	output the convolved image

Definition at line 295 of file pyramidal_klt.hpp.

References kernel_, kernel_last_, and kernel_size_2_.

Referenced by convolve().

◆ derivatives()

template<typename PointInT, typename IntensityT>

void pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::derivatives	(	const FloatImage &	src,
		FloatImage &	grad_x,
		FloatImage &	grad_y ) const

protected

compute Scharr derivatives of a source cloud.

Parameters

[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.

Referenced by computePyramids(), and downsample().

◆ downsample() [1/2]

template<typename PointInT, typename IntensityT>

void pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::downsample	(	const FloatImageConstPtr &	input,
		FloatImageConstPtr &	output ) const

protected

downsample input

Parameters

[in]	input	the image to downsample
[out]	output	the downsampled image

Definition at line 235 of file pyramidal_klt.hpp.

References convolve(), pcl::PointCloud< PointT >::height, and pcl::PointCloud< PointT >::width.

Referenced by computePyramids(), and downsample().

◆ downsample() [2/2]

template<typename PointInT, typename IntensityT>

void pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::downsample	(	const FloatImageConstPtr &	input,
		FloatImageConstPtr &	output,
		FloatImageConstPtr &	output_grad_x,
		FloatImageConstPtr &	output_grad_y ) const

protected

downsample input and compute output gradients.

Parameters

[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 267 of file pyramidal_klt.hpp.

References derivatives(), and downsample().

◆ getAccuracy()

template<typename PointInT, typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>

float pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::getAccuracy ( ) const

inline

Returns: the accuracy

Definition at line 132 of file pyramidal_klt.h.

References accuracy_.

◆ getEpsilon()

template<typename PointInT, typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>

float pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::getEpsilon ( ) const

inline

Returns: the epsilon

Definition at line 148 of file pyramidal_klt.h.

References epsilon_.

◆ getInitialized()

template<typename PointInT, typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>

bool pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::getInitialized ( ) const

inline

Returns: initialization state

Definition at line 278 of file pyramidal_klt.h.

References initialized_.

◆ getMaxIterationsNumber()

template<typename PointInT, typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>

unsigned int pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::getMaxIterationsNumber ( ) const

inline

Returns: the maximum iterations number

Definition at line 233 of file pyramidal_klt.h.

References max_iterations_.

◆ getNumberOfKeypoints()

template<typename PointInT, typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>

std::size_t pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::getNumberOfKeypoints ( )

inline

Returns: the maximum number of keypoints to keep

Definition at line 165 of file pyramidal_klt.h.

References keypoints_nbr_.

◆ getNumberOfPyramidLevels()

template<typename PointInT, typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>

int pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::getNumberOfPyramidLevels ( ) const

inline

Returns: the number of pyramid levels

Definition at line 116 of file pyramidal_klt.h.

References nb_levels_.

◆ getReferenceCloud()

template<typename PointInT, typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>

PointCloudInConstPtr pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::getReferenceCloud ( ) const

inline

Get a pointer of the cloud at t-1.

Definition at line 217 of file pyramidal_klt.h.

References ref_.

◆ getResult()

template<typename PointInT, typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>

Eigen::Affine3f pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::getResult ( ) const

inlineoverridevirtual

Return the computed transformation from tracked points.

Implements pcl::tracking::Tracker< PointInT, Eigen::Affine3f >.

Definition at line 271 of file pyramidal_klt.h.

References motion_.

◆ getStatusOfPointsToTrack()

template<typename PointInT, typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>

pcl::shared_ptr< const std::vector< int > > pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::getStatusOfPointsToTrack ( ) const

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 264 of file pyramidal_klt.h.

References keypoints_status_.

◆ getTrackedPoints()

template<typename PointInT, typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>

pcl::PointCloud< pcl::PointUV >::ConstPtr pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::getTrackedPoints ( ) const

inline

Returns: a pointer to the points successfully tracked.

Definition at line 252 of file pyramidal_klt.h.

References keypoints_.

◆ getTrackingWindowHeight()

template<typename PointInT, typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>

int pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::getTrackingWindowHeight ( )

inline

Returns: the tracking window size

Definition at line 200 of file pyramidal_klt.h.

References track_height_.

◆ getTrackingWindowWidth()

template<typename PointInT, typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>

int pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::getTrackingWindowWidth ( )

inline

Returns: the tracking window size

Definition at line 186 of file pyramidal_klt.h.

References track_width_.

◆ initCompute()

template<typename PointInT, typename IntensityT>

bool pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::initCompute ( )

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, computePyramids(), pcl::PCLBase< PointT >::initCompute(), initialized_, pcl::PCLBase< PointInT >::input_, keypoints_, nb_levels_, ref_, ref_pyramid_, track_height_, track_height_2_, track_width_, track_width_2_, and tracker_name_.

◆ mismatchVector()

template<typename PointInT, typename IntensityT>

void pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::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

protected

Definition at line 518 of file pyramidal_klt.hpp.

References track_height_, track_width_, and pcl::PointCloud< PointT >::width.

Referenced by track().

◆ setAccuracy()

template<typename PointInT, typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>

void pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::setAccuracy ( float accuracy )

inline

Set accuracy.

Parameters

[in] accuracy desired accuracy.

Definition at line 125 of file pyramidal_klt.h.

References accuracy_.

◆ setEpsilon()

template<typename PointInT, typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>

void pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::setEpsilon ( float epsilon )

inline

Set epsilon.

Parameters

[in] epsilon desired epsilon.

Definition at line 141 of file pyramidal_klt.h.

References epsilon_.

◆ setMaxIterationsNumber()

template<typename PointInT, typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>

void pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::setMaxIterationsNumber ( unsigned int max )

inline

Set the maximum number of iterations in the Lucas Kanade loop.

Parameters

[in] max the desired maximum number of iterations

Definition at line 226 of file pyramidal_klt.h.

References max_iterations_.

◆ setNumberOfKeypoints()

template<typename PointInT, typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>

void pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::setNumberOfKeypoints ( std::size_t number )

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 keypoints_nbr_.

◆ setNumberOfPyramidLevels()

template<typename PointInT, typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>

void pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::setNumberOfPyramidLevels ( int levels )

inline

Set the number of pyramid levels.

Parameters

levels desired number of pyramid levels

Definition at line 109 of file pyramidal_klt.h.

References nb_levels_.

◆ setNumberOfThreads()

template<typename PointInT, typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>

void pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::setNumberOfThreads ( unsigned int nr_threads = 0 )

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 threads_.

◆ setPointsToTrack() [1/2]

template<typename PointInT, typename IntensityT>

void pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::setPointsToTrack ( const pcl::PointCloud< pcl::PointUV >::ConstPtr & points )

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 keypoints_, keypoints_nbr_, keypoints_status_, pcl::PointCloud< PointT >::push_back(), and pcl::PointCloud< PointT >::reserve().

◆ setPointsToTrack() [2/2]

template<typename PointInT, typename IntensityT>

void pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::setPointsToTrack ( const pcl::PointIndicesConstPtr & points )

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::PCLBase< PointInT >::input_, keypoints_nbr_, ref_, setPointsToTrack(), pcl::PointUV::u, and pcl::PointUV::v.

Referenced by setPointsToTrack().

◆ setTrackingWindowHeight()

template<typename PointInT, typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>

void pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::setTrackingWindowHeight ( int height )

inline

Set tracking window height.

Definition at line 193 of file pyramidal_klt.h.

References track_height_.

◆ setTrackingWindowSize()

template<typename PointInT, typename IntensityT>

void pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::setTrackingWindowSize	(	int	width,
		int	height )

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.

References track_height_, and track_width_.

◆ setTrackingWindowWidth()

template<typename PointInT, typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>

void pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::setTrackingWindowWidth ( int width )

inline

Set tracking window width.

Definition at line 179 of file pyramidal_klt.h.

References track_width_.

◆ spatialGradient()

template<typename PointInT, typename IntensityT>

void pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::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

protectedvirtual

extract the patch from the previous image, previous image gradients surrounding pixel allocation 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 474 of file pyramidal_klt.hpp.

References track_height_, track_width_, and pcl::PointCloud< PointT >::width.

Referenced by track().

◆ track()

template<typename PointInT, typename IntensityT>

void pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::track	(	const PointCloudInConstPtr &	previous_input,
		const PointCloudInConstPtr &	current_input,
		const std::vector< FloatImageConstPtr > &	previous_pyramid,
		const std::vector< FloatImageConstPtr > &	current_pyramid,
		const pcl::PointCloud< pcl::PointUV >::ConstPtr &	previous_keypoints,
		pcl::PointCloud< pcl::PointUV >::Ptr &	current_keypoints,
		std::vector< int > &	status,
		Eigen::Affine3f &	motion ) const

protectedvirtual

Definition at line 548 of file pyramidal_klt.hpp.

References pcl::TransformationFromCorrespondences::add(), epsilon_, pcl::TransformationFromCorrespondences::getTransformation(), pcl::PointCloud< PointT >::height, max_iterations_, min_eigenvalue_threshold_, mismatchVector(), nb_levels_, pcl::PointCloud< PointT >::size(), spatialGradient(), track_height_, track_width_, pcl::PointUV::u, pcl::PointUV::v, and pcl::PointCloud< PointT >::width.

Referenced by computeTracking().

Member Data Documentation

◆ accuracy_

template<typename PointInT, typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>

float pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::accuracy_

protected

accuracy criterion to stop iterating

Definition at line 415 of file pyramidal_klt.h.

Referenced by getAccuracy(), PyramidalKLTTracker(), and setAccuracy().

◆ epsilon_

template<typename PointInT, typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>

float pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::epsilon_

protected

epsilon for subpixel computation

Definition at line 418 of file pyramidal_klt.h.

Referenced by getEpsilon(), PyramidalKLTTracker(), setEpsilon(), and track().

◆ initialized_

template<typename PointInT, typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>

bool pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::initialized_

protected

is the tracker initialized ?

Definition at line 425 of file pyramidal_klt.h.

Referenced by computeTracking(), getInitialized(), initCompute(), and PyramidalKLTTracker().

◆ intensity_

template<typename PointInT, typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>

IntensityT pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::intensity_

protected

intensity accessor

Definition at line 423 of file pyramidal_klt.h.

Referenced by computePyramids().

◆ kernel_

template<typename PointInT, typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>

Eigen::Array<float, 5, 1> pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::kernel_

protected

smoothing kernel

Definition at line 431 of file pyramidal_klt.h.

Referenced by convolveCols(), convolveRows(), and PyramidalKLTTracker().

◆ kernel_last_

template<typename PointInT, typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>

int pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::kernel_last_

protected

index of last element in kernel

Definition at line 435 of file pyramidal_klt.h.

Referenced by convolveCols(), convolveRows(), and PyramidalKLTTracker().

◆ kernel_size_2_

template<typename PointInT, typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>

int pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::kernel_size_2_

protected

smoothing kernel half size

Definition at line 433 of file pyramidal_klt.h.

Referenced by convolveCols(), convolveRows(), and PyramidalKLTTracker().

◆ keypoints_

template<typename PointInT, typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>

pcl::PointCloud<pcl::PointUV>::ConstPtr pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::keypoints_

protected

detected keypoints 2D coordinates

Definition at line 399 of file pyramidal_klt.h.

Referenced by computeTracking(), getTrackedPoints(), initCompute(), and setPointsToTrack().

◆ keypoints_nbr_

template<typename PointInT, typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>

std::size_t pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::keypoints_nbr_

protected

number of points to detect

Definition at line 403 of file pyramidal_klt.h.

Referenced by getNumberOfKeypoints(), PyramidalKLTTracker(), setNumberOfKeypoints(), setPointsToTrack(), and setPointsToTrack().

◆ keypoints_status_

template<typename PointInT, typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>

pcl::shared_ptr<std::vector<int> > pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::keypoints_status_

protected

status of keypoints of t-1 at t

Definition at line 401 of file pyramidal_klt.h.

Referenced by computeTracking(), getStatusOfPointsToTrack(), and setPointsToTrack().

◆ max_iterations_

template<typename PointInT, typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>

unsigned int pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::max_iterations_

protected

maximum number of iterations

Definition at line 413 of file pyramidal_klt.h.

Referenced by getMaxIterationsNumber(), PyramidalKLTTracker(), setMaxIterationsNumber(), and track().

◆ max_residue_

template<typename PointInT, typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>

float pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::max_residue_

protected

Definition at line 419 of file pyramidal_klt.h.

◆ min_eigenvalue_threshold_

template<typename PointInT, typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>

float pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::min_eigenvalue_threshold_

protected

Definition at line 416 of file pyramidal_klt.h.

Referenced by PyramidalKLTTracker(), and track().

◆ motion_

template<typename PointInT, typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>

Eigen::Affine3f pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::motion_

protected

computed transformation between tracked points

Definition at line 429 of file pyramidal_klt.h.

Referenced by computeTracking(), and getResult().

◆ nb_levels_

template<typename PointInT, typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>

int pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::nb_levels_

protected

number of pyramid levels

Definition at line 397 of file pyramidal_klt.h.

Referenced by computePyramids(), getNumberOfPyramidLevels(), initCompute(), PyramidalKLTTracker(), setNumberOfPyramidLevels(), and track().

◆ ref_

template<typename PointInT, typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>

PointCloudInConstPtr pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::ref_

protected

point cloud at t-1

Definition at line 395 of file pyramidal_klt.h.

Referenced by computeTracking(), getReferenceCloud(), initCompute(), PyramidalKLTTracker(), and setPointsToTrack().

◆ ref_pyramid_

template<typename PointInT, typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>

std::vector<FloatImageConstPtr> pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::ref_pyramid_

protected

input pyranid at t-1

Definition at line 393 of file pyramidal_klt.h.

Referenced by computeTracking(), and initCompute().

◆ threads_

template<typename PointInT, typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>

unsigned int pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::threads_

protected

number of hardware threads

Definition at line 421 of file pyramidal_klt.h.

Referenced by PyramidalKLTTracker(), and setNumberOfThreads().

◆ track_height_

template<typename PointInT, typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>

int pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::track_height_

protected

tracking height

Definition at line 409 of file pyramidal_klt.h.

Referenced by computePyramids(), getTrackingWindowHeight(), initCompute(), mismatchVector(), PyramidalKLTTracker(), setTrackingWindowHeight(), setTrackingWindowSize(), spatialGradient(), and track().

◆ track_height_2_

template<typename PointInT, typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>

int pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::track_height_2_

protected

half of tracking window height

Definition at line 411 of file pyramidal_klt.h.

Referenced by initCompute().

◆ track_width_

template<typename PointInT, typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>

int pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::track_width_

protected

tracking width

Definition at line 405 of file pyramidal_klt.h.

Referenced by computePyramids(), getTrackingWindowWidth(), initCompute(), mismatchVector(), PyramidalKLTTracker(), setTrackingWindowSize(), setTrackingWindowWidth(), spatialGradient(), and track().

◆ track_width_2_

template<typename PointInT, typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>

int pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::track_width_2_

protected

half of tracking window width

Definition at line 407 of file pyramidal_klt.h.

Referenced by initCompute().

◆ tracker_name_

template<typename PointInT, typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>

std::string pcl::tracking::Tracker< PointInT, Eigen::Affine3f >::tracker_name_

The tracker name.

Definition at line 90 of file tracker.h.

Referenced by initCompute(), and PyramidalKLTTracker().

◆ transformation_computer_

template<typename PointInT, typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>

pcl::TransformationFromCorrespondences pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::transformation_computer_

protected

compute transformation from successfully tracked points

Definition at line 427 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

Public Types

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ ConstPtr

◆ FloatImage

◆ FloatImageConstPtr

◆ FloatImagePtr

◆ PointCloudIn

◆ PointCloudInConstPtr

◆ PointCloudInPtr

◆ Ptr

◆ TrackerBase

Constructor & Destructor Documentation

◆ PyramidalKLTTracker()

◆ ~PyramidalKLTTracker()

Member Function Documentation

◆ computePyramids()

◆ computeTracking()

◆ convolve()

◆ convolveCols()

◆ convolveRows()

◆ derivatives()

◆ downsample() [1/2]

◆ downsample() [2/2]

◆ getAccuracy()

◆ getEpsilon()

◆ getInitialized()

◆ getMaxIterationsNumber()

◆ getNumberOfKeypoints()

◆ getNumberOfPyramidLevels()

◆ getReferenceCloud()

◆ getResult()

◆ getStatusOfPointsToTrack()

◆ getTrackedPoints()

◆ getTrackingWindowHeight()

◆ getTrackingWindowWidth()

◆ initCompute()

◆ mismatchVector()

◆ setAccuracy()

◆ setEpsilon()

◆ setMaxIterationsNumber()

◆ setNumberOfKeypoints()

◆ setNumberOfPyramidLevels()

◆ setNumberOfThreads()

◆ setPointsToTrack() [1/2]

◆ setPointsToTrack() [2/2]

◆ setTrackingWindowHeight()

◆ setTrackingWindowSize()

◆ setTrackingWindowWidth()

◆ spatialGradient()

◆ track()

Member Data Documentation

◆ accuracy_

◆ epsilon_

◆ initialized_

◆ intensity_

◆ kernel_

◆ kernel_last_

◆ kernel_size_2_

◆ keypoints_

◆ keypoints_nbr_

◆ keypoints_status_

◆ max_iterations_

◆ max_residue_

◆ min_eigenvalue_threshold_

◆ motion_

◆ nb_levels_

◆ ref_

◆ ref_pyramid_

◆ threads_

◆ track_height_

◆ track_height_2_

◆ track_width_

◆ track_width_2_

◆ tracker_name_

◆ transformation_computer_