Point Cloud Library (PCL)
1.9.1
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Pyramidal Kanade Lucas Tomasi tracker. More...
#include <pcl/tracking/pyramidal_klt.h>
Public Member Functions | |
PyramidalKLTTracker (int nb_levels=5, int tracking_window_width=7, int tracking_window_height=7) | |
Constructor. More... | |
virtual | ~PyramidalKLTTracker () |
Destructor. More... | |
void | setNumberOfPyramidLevels (int levels) |
Set the number of pyramid levels. More... | |
int | getNumberOfPyramidLevels () const |
void | setAccuracy (float accuracy) |
Set accuracy. More... | |
float | getAccuracy () const |
void | setEpsilon (float epsilon) |
Set epsilon. More... | |
float | getEpsilon () const |
void | setNumberOfKeypoints (std::size_t number) |
Set the maximum number of points to track. More... | |
std::size_t | getNumberOfKeypoints () |
void | setTrackingWindowSize (int width, int height) |
set the tracking window size More... | |
void | setTrackingWindowWidth (int width) |
Set tracking window width. More... | |
int | getTrackingWindowWidth () |
void | setTrackingWindowHeight (int height) |
Set tracking window height. More... | |
int | getTrackingWindowHeight () |
void | setNumberOfThreads (unsigned int nr_threads=0) |
Initialize the scheduler and set the number of threads to use. More... | |
PointCloudInConstPtr | getReferenceCloud () const |
Get a pointer of the cloud at t-1. More... | |
void | setMaxIterationsNumber (unsigned int max) |
Set the maximum number of iterations in the Lucas Kanade loop. More... | |
unsigned int | getMaxIterationsNumber () const |
void | setPointsToTrack (const pcl::PointIndicesConstPtr &points) |
Provide a pointer to points to track. More... | |
void | setPointsToTrack (const pcl::PointCloud< pcl::PointUV >::ConstPtr &points) |
Provide a pointer to points to track. More... | |
pcl::PointCloud< pcl::PointUV >::ConstPtr | getTrackedPoints () const |
pcl::PointIndicesConstPtr | getPointsToTrackStatus () const |
Eigen::Affine3f | getResult () const |
Return the computed transformation from tracked points. More... | |
bool | getInitialized () const |
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Tracker () | |
Empty constructor. More... | |
void | compute () |
Base method for tracking for all points given in <setInputCloud (), setIndices ()> using the indices in setIndices () More... | |
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PCLBase () | |
Empty constructor. More... | |
PCLBase (const PCLBase &base) | |
Copy constructor. More... | |
virtual | ~PCLBase () |
Destructor. More... | |
virtual void | setInputCloud (const PointCloudConstPtr &cloud) |
Provide a pointer to the input dataset. More... | |
PointCloudConstPtr const | getInputCloud () const |
Get a pointer to the input point cloud dataset. More... | |
virtual void | setIndices (const IndicesPtr &indices) |
Provide a pointer to the vector of indices that represents the input data. More... | |
virtual void | setIndices (const IndicesConstPtr &indices) |
Provide a pointer to the vector of indices that represents the input data. More... | |
virtual void | setIndices (const PointIndicesConstPtr &indices) |
Provide a pointer to the vector of indices that represents the input data. More... | |
virtual void | setIndices (size_t row_start, size_t col_start, size_t nb_rows, size_t nb_cols) |
Set the indices for the points laying within an interest region of the point cloud. More... | |
IndicesPtr const | getIndices () |
Get a pointer to the vector of indices used. More... | |
IndicesConstPtr const | getIndices () const |
Get a pointer to the vector of indices used. More... | |
const PointInT & | operator[] (size_t pos) const |
Override PointCloud operator[] to shorten code. More... | |
Protected Member Functions | |
virtual bool | initCompute () |
This method should get called before starting the actual computation. More... | |
void | derivatives (const FloatImage &src, FloatImage &grad_x, FloatImage &grad_y) const |
compute Scharr derivatives of a source cloud. More... | |
void | downsample (const FloatImageConstPtr &input, FloatImageConstPtr &output) const |
downsample input More... | |
void | downsample (const FloatImageConstPtr &input, FloatImageConstPtr &output, FloatImageConstPtr &output_grad_x, FloatImageConstPtr &output_grad_y) const |
downsample input and compute output gradients. More... | |
void | convolve (const FloatImageConstPtr &input, FloatImage &output) const |
Separately convolve image with decomposable convolution kernel. More... | |
void | convolveCols (const FloatImageConstPtr &input, FloatImage &output) const |
Convolve image columns. More... | |
void | convolveRows (const FloatImageConstPtr &input, FloatImage &output) const |
Convolve image rows. More... | |
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... | |
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... | |
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 |
virtual void | computeTracking () |
Abstract tracking method. More... | |
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const std::string & | getClassName () const |
Get a string representation of the name of this class. More... | |
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... | |
SearchPtr | getSearchMethod () |
Get a pointer to the point cloud dataset. More... | |
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bool | initCompute () |
This method should get called before starting the actual computation. More... | |
bool | deinitCompute () |
This method should get called after finishing the actual computation. More... | |
Protected Attributes | |
std::vector< FloatImageConstPtr > | ref_pyramid_ |
input pyranid at t-1 More... | |
PointCloudInConstPtr | ref_ |
point cloud at t-1 More... | |
int | nb_levels_ |
number of pyramid levels More... | |
pcl::PointCloud< pcl::PointUV >::ConstPtr | keypoints_ |
detected keypoints 2D coordinates More... | |
pcl::PointIndicesPtr | keypoints_status_ |
status of keypoints of t-1 at t More... | |
std::size_t | keypoints_nbr_ |
number of points to detect More... | |
int | track_width_ |
tracking width More... | |
int | track_width_2_ |
half of tracking window width More... | |
int | track_height_ |
tracking height More... | |
int | track_height_2_ |
half of tracking window height More... | |
unsigned int | max_iterations_ |
maximum number of iterations More... | |
float | accuracy_ |
accuracy criterion to stop iterating More... | |
float | min_eigenvalue_threshold_ |
float | epsilon_ |
epsilon for subpixel computation More... | |
float | max_residue_ |
unsigned int | threads_ |
number of hardware threads More... | |
IntensityT | intensity_ |
intensity accessor More... | |
bool | initialized_ |
is the tracker initialized ? More... | |
pcl::TransformationFromCorrespondences | transformation_computer_ |
compute transformation from successfully tracked points More... | |
Eigen::Affine3f | motion_ |
computed transformation between tracked points More... | |
Eigen::Array< float, 5, 1 > | kernel_ |
smoothing kernel More... | |
int | kernel_size_2_ |
smoothing kernel half size More... | |
int | kernel_last_ |
index of last element in kernel More... | |
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std::string | tracker_name_ |
The tracker name. More... | |
SearchPtr | search_ |
A pointer to the spatial search object. More... | |
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PointCloudConstPtr | input_ |
The input point cloud dataset. More... | |
IndicesPtr | indices_ |
A pointer to the vector of point indices to use. More... | |
bool | use_indices_ |
Set to true if point indices are used. More... | |
bool | fake_indices_ |
If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud. More... | |
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 63 of file pyramidal_klt.h.
typedef pcl::PointCloud<float> pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::FloatImage |
Definition at line 70 of file pyramidal_klt.h.
typedef FloatImage::ConstPtr pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::FloatImageConstPtr |
Definition at line 72 of file pyramidal_klt.h.
typedef FloatImage::Ptr pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::FloatImagePtr |
Definition at line 71 of file pyramidal_klt.h.
typedef TrackerBase::PointCloudIn pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::PointCloudIn |
Definition at line 67 of file pyramidal_klt.h.
typedef PointCloudIn::ConstPtr pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::PointCloudInConstPtr |
Definition at line 69 of file pyramidal_klt.h.
typedef PointCloudIn::Ptr pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::PointCloudInPtr |
Definition at line 68 of file pyramidal_klt.h.
typedef pcl::tracking::Tracker<PointInT, Eigen::Affine3f> pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::TrackerBase |
Definition at line 66 of file pyramidal_klt.h.
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Constructor.
Definition at line 79 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_.
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Destructor.
Definition at line 99 of file pyramidal_klt.h.
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Compute the pyramidal representation of an image.
[in] | input | the input cloud |
[out] | pyramid | computed pyramid levels along with their respective gradients |
[in] | border_type |
Definition at line 336 of file pyramidal_klt.hpp.
References pcl::BORDER_CONSTANT, and pcl::copyPointCloud().
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Abstract tracking method.
Implements pcl::tracking::Tracker< PointInT, Eigen::Affine3f >.
Definition at line 625 of file pyramidal_klt.hpp.
References pcl::BORDER_REFLECT_101, and pcl::PointCloud< PointT >::reserve().
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Separately convolve image with decomposable convolution kernel.
[in] | input | input the image to convolve |
[out] | output | output the convolved image |
Definition at line 264 of file pyramidal_klt.hpp.
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Convolve image columns.
[in] | input | input the image to convolve |
[out] | output | output the convolved image |
Definition at line 304 of file pyramidal_klt.hpp.
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Convolve image rows.
[in] | input | input the image to convolve |
[out] | output | output the convolved image |
Definition at line 273 of file pyramidal_klt.hpp.
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compute Scharr derivatives of a source cloud.
[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 166 of file pyramidal_klt.hpp.
References pcl::PointCloud< PointT >::height, pcl::PointCloud< PointT >::points, pcl::PointCloud< PointT >::size(), and pcl::PointCloud< PointT >::width.
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downsample input
[in] | input | the image to downsample |
[out] | output | the downsampled image |
Definition at line 221 of file pyramidal_klt.hpp.
References pcl::PointCloud< PointT >::height, and pcl::PointCloud< PointT >::width.
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downsample input and compute output gradients.
[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 249 of file pyramidal_klt.hpp.
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Definition at line 119 of file pyramidal_klt.h.
References pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::accuracy_.
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Definition at line 129 of file pyramidal_klt.h.
References pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::epsilon_.
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Definition at line 218 of file pyramidal_klt.h.
References pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::initialized_.
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Definition at line 185 of file pyramidal_klt.h.
References pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::max_iterations_.
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Definition at line 141 of file pyramidal_klt.h.
References pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::keypoints_nbr_.
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Definition at line 109 of file pyramidal_klt.h.
References pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::nb_levels_.
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Definition at line 210 of file pyramidal_klt.h.
References pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::keypoints_status_.
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Get a pointer of the cloud at t-1.
Definition at line 175 of file pyramidal_klt.h.
References pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::ref_.
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Return the computed transformation from tracked points.
Implements pcl::tracking::Tracker< PointInT, Eigen::Affine3f >.
Definition at line 214 of file pyramidal_klt.h.
References pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::motion_.
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Definition at line 201 of file pyramidal_klt.h.
References pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::keypoints_.
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Definition at line 164 of file pyramidal_klt.h.
References pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::track_height_.
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Definition at line 156 of file pyramidal_klt.h.
References pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::track_width_.
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This method should get called before starting the actual computation.
Reimplemented from pcl::tracking::Tracker< PointInT, Eigen::Affine3f >.
Definition at line 94 of file pyramidal_klt.hpp.
References pcl::BORDER_REFLECT_101.
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Definition at line 445 of file pyramidal_klt.hpp.
References pcl::PointCloud< PointT >::points, and pcl::PointCloud< PointT >::width.
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Set accuracy.
[in] | accuracy | desired accuracy. |
Definition at line 115 of file pyramidal_klt.h.
References pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::accuracy_.
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Set epsilon.
[in] | epsilon | desired epsilon. |
Definition at line 125 of file pyramidal_klt.h.
References pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::epsilon_.
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Set the maximum number of iterations in the Lucas Kanade loop.
[in] | max | the desired maximum number of iterations |
Definition at line 181 of file pyramidal_klt.h.
References pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::max_iterations_.
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Set the maximum number of points to track.
Only the first keypoints_nbr_ are used as points to track after sorting detected keypoints according to their response measure.
[in] | number | the desired number of points to detect. |
Definition at line 137 of file pyramidal_klt.h.
References pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::keypoints_nbr_.
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Set the number of pyramid levels.
levels | desired number of pyramid levels |
Definition at line 105 of file pyramidal_klt.h.
References pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::nb_levels_.
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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 171 of file pyramidal_klt.h.
References pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::threads_.
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Provide a pointer to points to track.
points | the const boost shared pointer to a PointIndices message |
Definition at line 76 of file pyramidal_klt.hpp.
References pcl::PointCloud< PointT >::push_back(), pcl::PointCloud< PointT >::reserve(), pcl::PointUV::u, and pcl::PointUV::v.
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Provide a pointer to points to track.
points | the const boost shared pointer to a PointIndices message |
Definition at line 57 of file pyramidal_klt.hpp.
References pcl::PointCloud< PointT >::points, pcl::PointCloud< PointT >::push_back(), pcl::PointCloud< PointT >::reserve(), pcl::PointCloud< PointT >::resize(), and pcl::PointCloud< PointT >::size().
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Set tracking window height.
Definition at line 160 of file pyramidal_klt.h.
References pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::track_height_.
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set the tracking window size
[in] | width | the tracking window width |
[in] | height | the tracking window height |
Definition at line 49 of file pyramidal_klt.hpp.
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Set tracking window width.
Definition at line 152 of file pyramidal_klt.h.
References pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::track_width_.
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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.
[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 404 of file pyramidal_klt.hpp.
References pcl::PointCloud< PointT >::points, and pcl::PointCloud< PointT >::width.
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Definition at line 474 of file pyramidal_klt.hpp.
References pcl::TransformationFromCorrespondences::add(), pcl::TransformationFromCorrespondences::getTransformation(), pcl::PointCloud< PointT >::height, pcl::PointCloud< PointT >::points, pcl::PointCloud< PointT >::push_back(), pcl::PointCloud< PointT >::size(), pcl::PointUV::u, pcl::PointUV::v, and pcl::PointCloud< PointT >::width.
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accuracy criterion to stop iterating
Definition at line 349 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().
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epsilon for subpixel computation
Definition at line 352 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().
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is the tracker initialized ?
Definition at line 359 of file pyramidal_klt.h.
Referenced by pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::getInitialized().
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intensity accessor
Definition at line 357 of file pyramidal_klt.h.
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smoothing kernel
Definition at line 365 of file pyramidal_klt.h.
Referenced by pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::PyramidalKLTTracker().
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index of last element in kernel
Definition at line 369 of file pyramidal_klt.h.
Referenced by pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::PyramidalKLTTracker().
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smoothing kernel half size
Definition at line 367 of file pyramidal_klt.h.
Referenced by pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::PyramidalKLTTracker().
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detected keypoints 2D coordinates
Definition at line 333 of file pyramidal_klt.h.
Referenced by pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::getTrackedPoints().
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number of points to detect
Definition at line 337 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().
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status of keypoints of t-1 at t
Definition at line 335 of file pyramidal_klt.h.
Referenced by pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::getPointsToTrackStatus().
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maximum number of iterations
Definition at line 347 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().
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Definition at line 353 of file pyramidal_klt.h.
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Definition at line 350 of file pyramidal_klt.h.
Referenced by pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::PyramidalKLTTracker().
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computed transformation between tracked points
Definition at line 363 of file pyramidal_klt.h.
Referenced by pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::getResult().
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number of pyramid levels
Definition at line 331 of file pyramidal_klt.h.
Referenced by pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::getNumberOfPyramidLevels(), and pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::setNumberOfPyramidLevels().
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point cloud at t-1
Definition at line 329 of file pyramidal_klt.h.
Referenced by pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::getReferenceCloud().
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input pyranid at t-1
Definition at line 327 of file pyramidal_klt.h.
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number of hardware threads
Definition at line 355 of file pyramidal_klt.h.
Referenced by pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::setNumberOfThreads().
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tracking height
Definition at line 343 of file pyramidal_klt.h.
Referenced by pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::getTrackingWindowHeight(), and pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::setTrackingWindowHeight().
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half of tracking window height
Definition at line 345 of file pyramidal_klt.h.
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tracking width
Definition at line 339 of file pyramidal_klt.h.
Referenced by pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::getTrackingWindowWidth(), and pcl::tracking::PyramidalKLTTracker< PointInT, IntensityT >::setTrackingWindowWidth().
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half of tracking window width
Definition at line 341 of file pyramidal_klt.h.
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compute transformation from successfully tracked points
Definition at line 361 of file pyramidal_klt.h.