4 #include <pcl/gpu/containers/device_array.h>
7 #include <pcl/point_cloud.h>
8 #include <pcl/PointIndices.h>
11 #include <pcl/gpu/kinfu/pixel_rgb.h>
12 #include <pcl/tracking/particle_filter.h>
StateType representative_state_
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.
virtual void computeTracking()
int rows_
Height of input depth image.
DeviceArray2D< PointType > input_
DeviceArray2D< PointType > ref_
int getParticleNum() const
get the number of the particles.
virtual StateType getResult()
DeviceArray2D< PointType > const getReferenceCloud()
get a pointer to a reference dataset to be tracked.
virtual void allocateBuffers()
DeviceArray2D< PixelRGB > ref_colors_
virtual void setMotion(StateType motion)
virtual bool initCompute()
DeviceArray2D< PixelRGB > input_colors_
std::vector< float > initial_noise_covariance_
std::vector< float > step_noise_covariance_
std::string tracker_name_
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.