Point Cloud Library (PCL)  1.14.0-dev
internal.h
1 #pragma once
2 
3 #include <pcl/gpu/containers/device_array.h>
4 #include <pcl/gpu/utils/safe_call.hpp>
5 
6 #include <curand.h>
7 #include <curand_kernel.h>
8 
9 namespace pcl
10 {
11  namespace device
12  {
13 
14  struct float8 { float x, y, z, w, roll, pitch, yaw, weight; };
15  using StateType = float8;
16 
17  using PointType = float4;
18  using PixelRGB = uchar4;
19  using NormalType = float4;
20 
21 
22  void
24  DeviceArray<float>& initial_noise_mean, DeviceArray<float>& initial_noise_covariance,
25  const StateType& representative_state,
26  DeviceArray<StateType>& particles);
27 
28  void
30  const DeviceArray2D<PointType>& input, const DeviceArray2D<PixelRGB>& input_color,
31  PtrSz<curandState> rng_states, const DeviceArray<float>& step_noise_covariance,
32  DeviceArray<StateType>& particles,
33  StateType& representative_state, StateType& motion, float motion_ratio );
34 
35  /*
36  void
37  resample (StateXYZ& motion_xyz, StateRPY& motion_rpy, float motion_ratio,
38  int num_particles, PtrSz<StateXYZ>& particles_xyz_, PtrSz<StateRPY>& particles_rpy_, PtrSz<float>& particles_weight_);
39  void
40  weight (const PtrSz<PointType>& input, const PtrSz<PixelRGB>& input_color,
41  const PtrSz<PointType>& ref, const PtrSz<PixelRGB>& ref_color,
42  int num_particles, PtrSz<StateXYZ>& particles_xyz_, PtrSz<StateRPY>& particles_rpy_, PtrSz<float>& particles_weight_);
43  void
44  update (int num_particles, PtrSz<StateXYZ>& particles_xyz_, PtrSz<StateRPY>& particles_rpy_, PtrSz<float>& particles_weight_,
45  StateXYZ& representative_state_xyz, StateRPY& representative_state_rpy,
46  StateXYZ& motion_xyz, StateRPY& motion_rpy);
47  */
48  }
49 }
DeviceArray2D class
Definition: device_array.h:188
DeviceArray class
Definition: device_array.h:54
float4 PointType
Definition: internal.hpp:58
void initParticles(PtrSz< curandState > rng_states, DeviceArray< float > &initial_noise_mean, DeviceArray< float > &initial_noise_covariance, const StateType &representative_state, DeviceArray< StateType > &particles)
void computeTracking(const DeviceArray2D< PointType > &ref, const DeviceArray2D< PixelRGB > &ref_color, const DeviceArray2D< PointType > &input, const DeviceArray2D< PixelRGB > &input_color, PtrSz< curandState > rng_states, const DeviceArray< float > &step_noise_covariance, DeviceArray< StateType > &particles, StateType &representative_state, StateType &motion, float motion_ratio)
uchar4 PixelRGB
Definition: internal.h:18
float4 NormalType
Definition: internal.hpp:59