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