Point Cloud Library (PCL) 1.12.1
tracker.h
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36 * $Id: point_cloud.h 4696 2012-02-23 06:12:55Z rusu $
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39
40#pragma once
41
42#include <pcl/search/search.h>
43#include <pcl/tracking/tracking.h>
44#include <pcl/memory.h>
45#include <pcl/pcl_base.h>
46#include <pcl/pcl_macros.h>
47
48namespace pcl {
49namespace tracking {
50/** \brief @b Tracker represents the base tracker class.
51 * \author Ryohei Ueda
52 * \ingroup tracking
53 */
54template <typename PointInT, typename StateT>
55class Tracker : public PCLBase<PointInT> {
56protected:
58
59public:
62
64 using Ptr = shared_ptr<Tracker<PointInT, StateT>>;
65 using ConstPtr = shared_ptr<const Tracker<PointInT, StateT>>;
66
69
73
77
78public:
79 /** \brief Empty constructor. */
81
82 /** \brief Base method for tracking for all points given in
83 * <setInputCloud (), setIndices ()> using the indices in setIndices ()
84 */
85 void
86 compute();
87
88protected:
89 /** \brief The tracker name. */
90 std::string tracker_name_;
91
92 /** \brief A pointer to the spatial search object. */
94
95 /** \brief Get a string representation of the name of this class. */
96 inline const std::string&
98 {
99 return (tracker_name_);
100 }
101
102 /** \brief This method should get called before starting the actual
103 * computation. */
104 virtual bool
105 initCompute();
106
107 /** \brief Provide a pointer to a dataset to add additional information
108 * to estimate the features for every point in the input dataset. This
109 * is optional, if this is not set, it will only use the data in the
110 * input cloud to estimate the features. This is useful when you only
111 * need to compute the features for a downsampled cloud.
112 * \param search a pointer to a PointCloud message
113 */
114 inline void
116 {
117 search_ = search;
118 }
119
120 /** \brief Get a pointer to the point cloud dataset. */
121 inline SearchPtr
123 {
124 return (search_);
125 }
126
127 /** \brief Get an instance of the result of tracking. */
128 virtual StateT
129 getResult() const = 0;
130
131private:
132 /** \brief Abstract tracking method. */
133 virtual void
134 computeTracking() = 0;
135
136public:
138};
139} // namespace tracking
140} // namespace pcl
141
142#include <pcl/tracking/impl/tracker.hpp>
PCL base class.
Definition: pcl_base.h:70
shared_ptr< PointCloud< PointInT > > Ptr
Definition: point_cloud.h:413
shared_ptr< const PointCloud< PointInT > > ConstPtr
Definition: point_cloud.h:414
shared_ptr< const pcl::search::Search< PointT > > ConstPtr
Definition: search.h:82
shared_ptr< pcl::search::Search< PointT > > Ptr
Definition: search.h:81
Tracker represents the base tracker class.
Definition: tracker.h:55
const std::string & getClassName() const
Get a string representation of the name of this class.
Definition: tracker.h:97
shared_ptr< const Tracker< PointInT, StateT > > ConstPtr
Definition: tracker.h:65
void compute()
Base method for tracking for all points given in <setInputCloud (), setIndices ()> using the indices ...
Definition: tracker.hpp:30
SearchPtr search_
A pointer to the spatial search object.
Definition: tracker.h:93
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
typename PointCloudState::ConstPtr PointCloudStateConstPtr
Definition: tracker.h:76
SearchPtr getSearchMethod()
Get a pointer to the point cloud dataset.
Definition: tracker.h:122
virtual StateT getResult() const =0
Get an instance of the result of tracking.
typename pcl::search::Search< PointInT >::ConstPtr SearchConstPtr
Definition: tracker.h:68
std::string tracker_name_
The tracker name.
Definition: tracker.h:90
shared_ptr< Tracker< PointInT, StateT > > Ptr
Definition: tracker.h:64
Tracker()
Empty constructor.
Definition: tracker.h:80
typename PointCloudIn::Ptr PointCloudInPtr
Definition: tracker.h:71
typename PointCloudIn::ConstPtr PointCloudInConstPtr
Definition: tracker.h:72
typename PointCloudState::Ptr PointCloudStatePtr
Definition: tracker.h:75
typename pcl::search::Search< PointInT >::Ptr SearchPtr
Definition: tracker.h:67
virtual bool initCompute()
This method should get called before starting the actual computation.
Definition: tracker.hpp:10
#define PCL_MAKE_ALIGNED_OPERATOR_NEW
Macro to signal a class requires a custom allocator.
Definition: memory.h:63
Defines functions, macros and traits for allocating and using memory.
Defines all the PCL and non-PCL macros used.