Point Cloud Library (PCL) 1.14.0
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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
9namespace 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
DeviceArray class
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