#include </build/pcl-a5akWP/pcl-1.8.0+dfsg1/gpu/tracking/include/pcl/gpu/tracking/particle_filter.h>

Public Types
typedef pcl::PointXYZ	PointType
	Point type supported. More...

typedef pcl::RGB	PixelRGB

typedef pcl::PointXYZ	StateXYZ

typedef pcl::PointXYZ	StateRPY

typedef pcl::tracking::ParticleXYZRPY	StateType

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< PointType >	ref_

DeviceArray2D< PixelRGB >	ref_colors_

DeviceArray2D< PointType >	input_

DeviceArray2D< PixelRGB >	input_colors_

DeviceArray< StateType >	particles_

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 23 of file particle_filter.h.

Member Typedef Documentation

typedef pcl::RGB pcl::gpu::ParticleFilterGPUTracker::PixelRGB

Definition at line 29 of file particle_filter.h.

typedef pcl::PointXYZ pcl::gpu::ParticleFilterGPUTracker::PointType

Point type supported.

Definition at line 27 of file particle_filter.h.

typedef pcl::PointXYZ pcl::gpu::ParticleFilterGPUTracker::StateRPY

Definition at line 32 of file particle_filter.h.

typedef pcl::tracking::ParticleXYZRPY pcl::gpu::ParticleFilterGPUTracker::StateType

Definition at line 34 of file particle_filter.h.

typedef pcl::PointXYZ pcl::gpu::ParticleFilterGPUTracker::StateXYZ

Definition at line 31 of file particle_filter.h.

Constructor & Destructor Documentation

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

inline

Empty constructor.

Definition at line 37 of file particle_filter.h.

References tracker_name_.

Member Function Documentation

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

inlineprotectedvirtual

Definition at line 99 of file particle_filter.h.

References particle_num_, and particles_.

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

Referenced by getReferenceCloud().

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

inlineprotectedvirtual

Definition at line 93 of file particle_filter.h.

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

inline

get the number of the particles.

Definition at line 51 of file particle_filter.h.

References particle_num_.

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

inline

get a pointer to a reference dataset to be tracked.

Definition at line 61 of file particle_filter.h.

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

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

virtual

Referenced by setMotion().

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

inlineprotectedvirtual

Definition at line 86 of file particle_filter.h.

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

inlinevirtual

Definition at line 70 of file particle_filter.h.

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

Referenced by getReferenceCloud().

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

inlinevirtual

Definition at line 76 of file particle_filter.h.

References getResult(), and motion_.

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

inline

set the number of the particles.

Parameters

particle_num the number of the particles.

Definition at line 47 of file particle_filter.h.

References particle_num_.

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

inline

set a pointer to a reference dataset to be tracked.

Parameters

ref	a pointer to a PointCloud message

Definition at line 57 of file particle_filter.h.

References ref_.

Member Data Documentation

int pcl::gpu::ParticleFilterGPUTracker::cols_

protected

Width of input depth image.

Definition at line 146 of file particle_filter.h.

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

protected

Definition at line 131 of file particle_filter.h.

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

protected

Definition at line 133 of file particle_filter.h.

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

protected

Definition at line 115 of file particle_filter.h.

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

protected

Definition at line 117 of file particle_filter.h.

StateType pcl::gpu::ParticleFilterGPUTracker::motion_

protected

Definition at line 135 of file particle_filter.h.

Referenced by setMotion().

float pcl::gpu::ParticleFilterGPUTracker::motion_ratio_

protected

Definition at line 137 of file particle_filter.h.

int pcl::gpu::ParticleFilterGPUTracker::particle_num_

protected

Definition at line 127 of file particle_filter.h.

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

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

protected

Definition at line 122 of file particle_filter.h.

Referenced by allocateBuffers().

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

protected

Definition at line 108 of file particle_filter.h.

Referenced by getReferenceCloud(), and setReferenceCloud().

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

protected

Definition at line 110 of file particle_filter.h.

StateType pcl::gpu::ParticleFilterGPUTracker::representative_state_

protected

Definition at line 141 of file particle_filter.h.

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

protected

Definition at line 125 of file particle_filter.h.

int pcl::gpu::ParticleFilterGPUTracker::rows_

protected

Height of input depth image.

Definition at line 144 of file particle_filter.h.

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

protected

Definition at line 129 of file particle_filter.h.

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

protected

Definition at line 83 of file particle_filter.h.

Referenced by ParticleFilterGPUTracker().

bool pcl::gpu::ParticleFilterGPUTracker::use_colors_

protected

Definition at line 139 of file particle_filter.h.

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

/build/pcl-a5akWP/pcl-1.8.0+dfsg1/gpu/tracking/include/pcl/gpu/tracking/particle_filter.h

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation