Point Cloud Library (PCL)  1.12.1-dev
particle_filter.h
1 #pragma once
2 
3 #include <pcl/pcl_macros.h>
4 #include <pcl/gpu/containers/device_array.h>
5 
6 #include <pcl/point_types.h>
7 #include <pcl/point_cloud.h>
8 #include <pcl/PointIndices.h>
9 #include <pcl/pcl_macros.h>
10 
11 #include <pcl/gpu/kinfu/pixel_rgb.h>
12 #include <pcl/tracking/particle_filter.h>
13 
14 #include "internal.h"
15 
16 namespace pcl
17 {
18  namespace gpu
19  {
21  {
22  public:
23  /** \brief Point type supported */
25  //using NormalType = pcl::Normal;
26  using PixelRGB = pcl::RGB;
27 
30 
32 
33  /** \brief Empty constructor. */
35  //: ParticleFilterTracker<PointInT, StateT> ()
36  {
37  tracker_name_ = "ParticleFilterGPUTracker";
38  }
39 
40  /** \brief set the number of the particles.
41  * \param particle_num the number of the particles.
42  */
43  inline void
44  setParticleNum (const int particle_num) { particle_num_ = particle_num; }
45 
46  /** \brief get the number of the particles. */
47  inline int
48  getParticleNum () const { return particle_num_; }
49 
50  /** \brief set a pointer to a reference dataset to be tracked.
51  * \param ref a pointer to a PointCloud message
52  */
53  inline void
55 
56  /** \brief get a pointer to a reference dataset to be tracked. */
57  inline DeviceArray2D<PointType> const
58  getReferenceCloud () { return ref_; }
59 
60  int
61  cols ();
62 
63  int
64  rows ();
65 
66  virtual bool
68  {
69 
70  }
71 
72  virtual void
74  { motion_ = motion; }
75 
76  virtual StateType
78 
79  protected:
80  std::string tracker_name_;
81 
82  virtual bool
84  {
85 
86  //pcl::device::initParticles(particle_num_, particle_xyz_, particle_rpy_, particle_weight_ );
87  }
88 
89  virtual void
91  {
92 
93  }
94 
95  virtual void
97  {
98  particles_.create( particle_num_ );
99 
100  random_number_generator_.create( particle_num_ );
101 
102  }
103 
104  // reference point cloud
106 
108 
109  //DeviceArray2D<NormalType> ref_normals_;
110 
111  // input point cloud
113 
115 
116  //DeviceArray2D<NormalType> input_normals_;
117 
118  //StateCloud particles_;
120 
121  // random number generate state
123 
125 
126  std::vector<float> step_noise_covariance_;
127 
128  std::vector<float> initial_noise_covariance_;
129 
130  std::vector<float> initial_noise_mean_;
131 
133 
135 
137 
139 
140  /** \brief Height of input depth image. */
141  int rows_;
142  /** \brief Width of input depth image. */
143  int cols_;
144 
145  };
146  }
147 }
DeviceArray2D class
Definition: device_array.h:188
DeviceArray class
Definition: device_array.h:54
DeviceArray< curandState > rng_states
virtual bool operator()(const DeviceArray2D< PointType > &input, const DeviceArray2D< PixelRGB > &input_colors)
void setParticleNum(const int particle_num)
set the number of the particles.
ParticleFilterGPUTracker()
Empty constructor.
pcl::tracking::ParticleXYZRPY StateType
DeviceArray< StateType > particles_
void setReferenceCloud(const DeviceArray2D< PointType > &ref)
set a pointer to a reference dataset to be tracked.
int rows_
Height of input depth image.
DeviceArray2D< PointType > input_
DeviceArray2D< PointType > ref_
int getParticleNum() const
get the number of the particles.
DeviceArray2D< PointType > const getReferenceCloud()
get a pointer to a reference dataset to be tracked.
DeviceArray2D< PixelRGB > ref_colors_
virtual void setMotion(StateType motion)
DeviceArray2D< PixelRGB > input_colors_
std::vector< float > initial_noise_covariance_
std::vector< float > step_noise_covariance_
int cols_
Width of input depth image.
std::vector< float > initial_noise_mean_
Defines all the PCL implemented PointT point type structures.
Defines all the PCL and non-PCL macros used.
A point structure representing Euclidean xyz coordinates.
A structure representing RGB color information.