1 #ifndef PCL_GPU_TRACKING_PARTICLE_FILTER_H_ 2 #define PCL_GPU_TRACKING_PARTICLE_FILTER_H_ 4 #include <pcl/pcl_macros.h> 5 #include <pcl/gpu/containers/device_array.h> 7 #include <pcl/point_types.h> 8 #include <pcl/point_cloud.h> 9 #include <pcl/PointIndices.h> 10 #include <pcl/pcl_macros.h> 12 #include <pcl/gpu/kinfu/pixel_rgb.h> 13 #include <pcl/tracking/particle_filter.h> 15 #include <Eigen/Dense> 152 #endif // PCL_GPU_TRACKING_PARTICLE_FILTER_H_
virtual bool operator()(const DeviceArray2D< PointType > &input, const DeviceArray2D< PixelRGB > &input_colors)
void setReferenceCloud(const DeviceArray2D< PointType > &ref)
set a pointer to a reference dataset to be tracked.
DeviceArray< StateType > particles_
void setParticleNum(const int particle_num)
set the number of the particles.
std::vector< float > initial_noise_mean_
int getParticleNum() const
get the number of the particles.
DeviceArray2D< PixelRGB > input_colors_
DeviceArray2D< PointType > input_
pcl::PointXYZ PointType
Point type supported.
A structure representing RGB color information.
std::string tracker_name_
A point structure representing Euclidean xyz coordinates.
DeviceArray2D< PointType > ref_
int cols_
Width of input depth image.
virtual void computeTracking()
int rows_
Height of input depth image.
DeviceArray2D< PixelRGB > ref_colors_
std::vector< float > initial_noise_covariance_
virtual void setMotion(StateType motion)
virtual void allocateBuffers()
std::vector< float > step_noise_covariance_
virtual bool initCompute()
StateType representative_state_
virtual StateType getResult()
DeviceArray< curandState > rng_states
ParticleFilterGPUTracker()
Empty constructor.
pcl::tracking::ParticleXYZRPY StateType
DeviceArray2D< PointType > const getReferenceCloud()
get a pointer to a reference dataset to be tracked.