Point Cloud Library (PCL)  1.9.1-dev
List of all members | Public Types | Public Member Functions | Protected Member Functions | Protected Attributes
pcl::gpu::ParticleFilterGPUTracker Class Reference

#include </__w/1/s/gpu/tracking/include/pcl/gpu/tracking/particle_filter.h>

Public Types

using PointType = pcl::PointXYZ
 Point type supported. More...
 
using PixelRGB = pcl::RGB
 
using StateXYZ = pcl::PointXYZ
 
using StateRPY = pcl::PointXYZ
 
using StateType = pcl::tracking::ParticleXYZRPY
 

Public Member Functions

 ParticleFilterGPUTracker ()
 Empty constructor. More...
 
void setParticleNum (const int particle_num)
 set the number of the particles. More...
 
int getParticleNum () const
 get the number of the particles. More...
 
void setReferenceCloud (const DeviceArray2D< PointType > &ref)
 set a pointer to a reference dataset to be tracked. More...
 
DeviceArray2D< PointType > const getReferenceCloud ()
 get a pointer to a reference dataset to be tracked. More...
 
int cols ()
 
int rows ()
 
virtual bool operator() (const DeviceArray2D< PointType > &input, const DeviceArray2D< PixelRGB > &input_colors)
 
virtual void setMotion (StateType motion)
 
virtual StateType getResult ()
 

Protected Member Functions

virtual bool initCompute ()
 
virtual void computeTracking ()
 
virtual void allocateBuffers ()
 

Protected Attributes

std::string tracker_name_
 
DeviceArray2D< PointTyperef_
 
DeviceArray2D< PixelRGBref_colors_
 
DeviceArray2D< PointTypeinput_
 
DeviceArray2D< PixelRGBinput_colors_
 
DeviceArray< StateTypeparticles_
 
DeviceArray< curandState > rng_states
 
int particle_num_
 
std::vector< float > step_noise_covariance_
 
std::vector< float > initial_noise_covariance_
 
std::vector< float > initial_noise_mean_
 
StateType motion_
 
float motion_ratio_
 
bool use_colors_
 
StateType representative_state_
 
int rows_
 Height of input depth image. More...
 
int cols_
 Width of input depth image. More...
 

Detailed Description

Definition at line 22 of file particle_filter.h.

Member Typedef Documentation

◆ PixelRGB

Definition at line 28 of file particle_filter.h.

◆ PointType

Point type supported.

Definition at line 26 of file particle_filter.h.

◆ StateRPY

Definition at line 31 of file particle_filter.h.

◆ StateType

Definition at line 33 of file particle_filter.h.

◆ StateXYZ

Definition at line 30 of file particle_filter.h.

Constructor & Destructor Documentation

◆ ParticleFilterGPUTracker()

pcl::gpu::ParticleFilterGPUTracker::ParticleFilterGPUTracker ( )
inline

Empty constructor.

Definition at line 36 of file particle_filter.h.

References tracker_name_.

Member Function Documentation

◆ allocateBuffers()

virtual void pcl::gpu::ParticleFilterGPUTracker::allocateBuffers ( )
inlineprotectedvirtual

Definition at line 98 of file particle_filter.h.

References particle_num_, and particles_.

◆ cols()

int pcl::gpu::ParticleFilterGPUTracker::cols ( )

Referenced by getReferenceCloud().

◆ computeTracking()

virtual void pcl::gpu::ParticleFilterGPUTracker::computeTracking ( )
inlineprotectedvirtual

Definition at line 92 of file particle_filter.h.

◆ getParticleNum()

int pcl::gpu::ParticleFilterGPUTracker::getParticleNum ( ) const
inline

get the number of the particles.

Definition at line 50 of file particle_filter.h.

References particle_num_.

◆ getReferenceCloud()

DeviceArray2D<PointType> const pcl::gpu::ParticleFilterGPUTracker::getReferenceCloud ( )
inline

get a pointer to a reference dataset to be tracked.

Definition at line 60 of file particle_filter.h.

References cols(), ref_, and rows().

◆ getResult()

virtual StateType pcl::gpu::ParticleFilterGPUTracker::getResult ( )
virtual

Referenced by setMotion().

◆ initCompute()

virtual bool pcl::gpu::ParticleFilterGPUTracker::initCompute ( )
inlineprotectedvirtual

Definition at line 85 of file particle_filter.h.

◆ operator()()

virtual bool pcl::gpu::ParticleFilterGPUTracker::operator() ( const DeviceArray2D< PointType > &  input,
const DeviceArray2D< PixelRGB > &  input_colors 
)
inlinevirtual

Definition at line 69 of file particle_filter.h.

◆ rows()

int pcl::gpu::ParticleFilterGPUTracker::rows ( )

Referenced by getReferenceCloud().

◆ setMotion()

virtual void pcl::gpu::ParticleFilterGPUTracker::setMotion ( StateType  motion)
inlinevirtual

Definition at line 75 of file particle_filter.h.

References getResult(), and motion_.

◆ setParticleNum()

void pcl::gpu::ParticleFilterGPUTracker::setParticleNum ( const int  particle_num)
inline

set the number of the particles.

Parameters
particle_numthe number of the particles.

Definition at line 46 of file particle_filter.h.

References particle_num_.

◆ setReferenceCloud()

void pcl::gpu::ParticleFilterGPUTracker::setReferenceCloud ( const DeviceArray2D< PointType > &  ref)
inline

set a pointer to a reference dataset to be tracked.

Parameters
refa pointer to a PointCloud message

Definition at line 56 of file particle_filter.h.

References ref_.

Member Data Documentation

◆ cols_

int pcl::gpu::ParticleFilterGPUTracker::cols_
protected

Width of input depth image.

Definition at line 145 of file particle_filter.h.

◆ initial_noise_covariance_

std::vector<float> pcl::gpu::ParticleFilterGPUTracker::initial_noise_covariance_
protected

Definition at line 130 of file particle_filter.h.

◆ initial_noise_mean_

std::vector<float> pcl::gpu::ParticleFilterGPUTracker::initial_noise_mean_
protected

Definition at line 132 of file particle_filter.h.

◆ input_

DeviceArray2D<PointType> pcl::gpu::ParticleFilterGPUTracker::input_
protected

Definition at line 114 of file particle_filter.h.

◆ input_colors_

DeviceArray2D<PixelRGB> pcl::gpu::ParticleFilterGPUTracker::input_colors_
protected

Definition at line 116 of file particle_filter.h.

◆ motion_

StateType pcl::gpu::ParticleFilterGPUTracker::motion_
protected

Definition at line 134 of file particle_filter.h.

Referenced by setMotion().

◆ motion_ratio_

float pcl::gpu::ParticleFilterGPUTracker::motion_ratio_
protected

Definition at line 136 of file particle_filter.h.

◆ particle_num_

int pcl::gpu::ParticleFilterGPUTracker::particle_num_
protected

Definition at line 126 of file particle_filter.h.

Referenced by allocateBuffers(), getParticleNum(), and setParticleNum().

◆ particles_

DeviceArray<StateType> pcl::gpu::ParticleFilterGPUTracker::particles_
protected

Definition at line 121 of file particle_filter.h.

Referenced by allocateBuffers().

◆ ref_

DeviceArray2D<PointType> pcl::gpu::ParticleFilterGPUTracker::ref_
protected

Definition at line 107 of file particle_filter.h.

Referenced by getReferenceCloud(), and setReferenceCloud().

◆ ref_colors_

DeviceArray2D<PixelRGB> pcl::gpu::ParticleFilterGPUTracker::ref_colors_
protected

Definition at line 109 of file particle_filter.h.

◆ representative_state_

StateType pcl::gpu::ParticleFilterGPUTracker::representative_state_
protected

Definition at line 140 of file particle_filter.h.

◆ rng_states

DeviceArray<curandState> pcl::gpu::ParticleFilterGPUTracker::rng_states
protected

Definition at line 124 of file particle_filter.h.

◆ rows_

int pcl::gpu::ParticleFilterGPUTracker::rows_
protected

Height of input depth image.

Definition at line 143 of file particle_filter.h.

◆ step_noise_covariance_

std::vector<float> pcl::gpu::ParticleFilterGPUTracker::step_noise_covariance_
protected

Definition at line 128 of file particle_filter.h.

◆ tracker_name_

std::string pcl::gpu::ParticleFilterGPUTracker::tracker_name_
protected

Definition at line 82 of file particle_filter.h.

Referenced by ParticleFilterGPUTracker().

◆ use_colors_

bool pcl::gpu::ParticleFilterGPUTracker::use_colors_
protected

Definition at line 138 of file particle_filter.h.


The documentation for this class was generated from the following file: