virtual bool operator()(const DeviceArray2D< PointType > &input, const DeviceArray2D< PixelRGB > &input_colors)
ParticleFilterGPUTracker()
Empty constructor.
DeviceArray2D< PointType > input_
virtual void allocateBuffers()
int cols_
Width of input depth image.
virtual StateType getResult()
DeviceArray2D< PixelRGB > ref_colors_
DeviceArray< curandState > rng_states
virtual void setMotion(StateType motion)
StateType representative_state_
std::vector< float > initial_noise_covariance_
std::vector< float > initial_noise_mean_
DeviceArray2D< PixelRGB > input_colors_
const DeviceArray2D< PointType > getReferenceCloud()
get a pointer to a reference dataset to be tracked.
void setParticleNum(const int particle_num)
set the number of the particles.
std::vector< float > step_noise_covariance_
pcl::tracking::ParticleXYZRPY StateType
int rows_
Height of input depth image.
DeviceArray2D< PointType > ref_
void setReferenceCloud(const DeviceArray2D< PointType > &ref)
set a pointer to a reference dataset to be tracked.
virtual void computeTracking()
int getParticleNum() const
get the number of the particles.
virtual bool initCompute()
std::string tracker_name_
DeviceArray< StateType > particles_