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tracker.h
/*
* Software License Agreement (BSD License)
*
* Point Cloud Library (PCL) - www.pointclouds.org
* Copyright (c) 2010-2012, Willow Garage, Inc.
*
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* $Id: point_cloud.h 4696 2012-02-23 06:12:55Z rusu $
*
*/
#pragma once
#include <pcl/search/search.h>
#include <pcl/tracking/tracking.h>
#include <pcl/memory.h>
#include <pcl/pcl_base.h>
#include <pcl/pcl_macros.h>
namespace pcl {
namespace tracking {
/** \brief @b Tracker represents the base tracker class.
* \author Ryohei Ueda
* \ingroup tracking
*/
template <typename PointInT, typename StateT>
class Tracker : public PCLBase<PointInT> {
protected:
using PCLBase<PointInT>::deinitCompute;
public:
using PCLBase<PointInT>::indices_;
using PCLBase<PointInT>::input_;
using BaseClass = PCLBase<PointInT>;
using Ptr = shared_ptr<Tracker<PointInT, StateT>>;
using ConstPtr = shared_ptr<const Tracker<PointInT, StateT>>;
using SearchPtr = typename pcl::search::Search<PointInT>::Ptr;
using SearchConstPtr = typename pcl::search::Search<PointInT>::ConstPtr;
using PointCloudIn = pcl::PointCloud<PointInT>;
using PointCloudInPtr = typename PointCloudIn::Ptr;
using PointCloudInConstPtr = typename PointCloudIn::ConstPtr;
using PointCloudState = pcl::PointCloud<StateT>;
using PointCloudStatePtr = typename PointCloudState::Ptr;
using PointCloudStateConstPtr = typename PointCloudState::ConstPtr;
public:
/** \brief Empty constructor. */
Tracker() : search_() {}
/** \brief Base method for tracking for all points given in
* <setInputCloud (), setIndices ()> using the indices in setIndices ()
*/
void
compute();
protected:
/** \brief The tracker name. */
std::string tracker_name_;
/** \brief A pointer to the spatial search object. */
SearchPtr search_;
/** \brief Get a string representation of the name of this class. */
inline const std::string&
getClassName() const
{
return (tracker_name_);
}
/** \brief This method should get called before starting the actual
* computation. */
virtual bool
initCompute();
/** \brief Provide a pointer to a dataset to add additional information
* to estimate the features for every point in the input dataset. This
* is optional, if this is not set, it will only use the data in the
* input cloud to estimate the features. This is useful when you only
* need to compute the features for a downsampled cloud.
* \param search a pointer to a PointCloud message
*/
inline void
setSearchMethod(const SearchPtr& search)
{
search_ = search;
}
/** \brief Get a pointer to the point cloud dataset. */
inline SearchPtr
getSearchMethod()
{
return (search_);
}
/** \brief Get an instance of the result of tracking. */
virtual StateT
getResult() const = 0;
private:
/** \brief Abstract tracking method. */
virtual void
computeTracking() = 0;
public:
PCL_MAKE_ALIGNED_OPERATOR_NEW
};
} // namespace tracking
} // namespace pcl
#include <pcl/tracking/impl/tracker.hpp>
pcl::PCLBase
PCL base class.
Definition pcl_base.h:70
pcl::PCLBase< PointInT >::input_
PointCloudConstPtr input_
The input point cloud dataset.
Definition pcl_base.h:147
pcl::PCLBase< PointInT >::indices_
IndicesPtr indices_
A pointer to the vector of point indices to use.
Definition pcl_base.h:150
pcl::PCLBase< PointInT >::deinitCompute
bool deinitCompute()
This method should get called after finishing the actual computation.
Definition pcl_base.hpp:175
pcl::PointCloud< PointInT >
pcl::PointCloud< PointInT >::Ptr
shared_ptr< PointCloud< PointInT > > Ptr
Definition point_cloud.h:413
pcl::PointCloud< PointInT >::ConstPtr
shared_ptr< const PointCloud< PointInT > > ConstPtr
Definition point_cloud.h:414
pcl::search::Search::ConstPtr
shared_ptr< const pcl::search::Search< PointT > > ConstPtr
Definition search.h:82
pcl::search::Search::Ptr
shared_ptr< pcl::search::Search< PointT > > Ptr
Definition search.h:81
pcl::tracking::Tracker
Tracker represents the base tracker class.
Definition tracker.h:55
pcl::tracking::Tracker::getClassName
const std::string & getClassName() const
Get a string representation of the name of this class.
Definition tracker.h:97
pcl::tracking::Tracker::ConstPtr
shared_ptr< const Tracker< PointInT, StateT > > ConstPtr
Definition tracker.h:65
pcl::tracking::Tracker::compute
void compute()
Base method for tracking for all points given in <setInputCloud (), setIndices ()> using the indices ...
Definition tracker.hpp:30
pcl::tracking::Tracker::search_
SearchPtr search_
A pointer to the spatial search object.
Definition tracker.h:93
pcl::tracking::Tracker::setSearchMethod
void setSearchMethod(const SearchPtr &search)
Provide a pointer to a dataset to add additional information to estimate the features for every point...
Definition tracker.h:115
pcl::tracking::Tracker::PointCloudStateConstPtr
typename PointCloudState::ConstPtr PointCloudStateConstPtr
Definition tracker.h:76
pcl::tracking::Tracker::getSearchMethod
SearchPtr getSearchMethod()
Get a pointer to the point cloud dataset.
Definition tracker.h:122
pcl::tracking::Tracker::getResult
virtual StateT getResult() const =0
Get an instance of the result of tracking.
pcl::tracking::Tracker::SearchConstPtr
typename pcl::search::Search< PointInT >::ConstPtr SearchConstPtr
Definition tracker.h:68
pcl::tracking::Tracker::tracker_name_
std::string tracker_name_
The tracker name.
Definition tracker.h:90
pcl::tracking::Tracker::Ptr
shared_ptr< Tracker< PointInT, StateT > > Ptr
Definition tracker.h:64
pcl::tracking::Tracker::Tracker
Tracker()
Empty constructor.
Definition tracker.h:80
pcl::tracking::Tracker::PointCloudInPtr
typename PointCloudIn::Ptr PointCloudInPtr
Definition tracker.h:71
pcl::tracking::Tracker::PointCloudInConstPtr
typename PointCloudIn::ConstPtr PointCloudInConstPtr
Definition tracker.h:72
pcl::tracking::Tracker::PointCloudStatePtr
typename PointCloudState::Ptr PointCloudStatePtr
Definition tracker.h:75
pcl::tracking::Tracker::SearchPtr
typename pcl::search::Search< PointInT >::Ptr SearchPtr
Definition tracker.h:67
pcl::tracking::Tracker::initCompute
virtual bool initCompute()
This method should get called before starting the actual computation.
Definition tracker.hpp:10
pcl::tracking::Tracker::PointCloudState
pcl::PointCloud< StateT > PointCloudState
Definition tracker.h:74
PCL_MAKE_ALIGNED_OPERATOR_NEW
#define PCL_MAKE_ALIGNED_OPERATOR_NEW
Macro to signal a class requires a custom allocator.
Definition memory.h:63
memory.h
Defines functions, macros and traits for allocating and using memory.
pcl
Definition convolution.h:46
pcl_macros.h
Defines all the PCL and non-PCL macros used.