Program Listing for File internal.h

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#ifndef PCL_TRACKING_INTERNAL_H_
#define PCL_TRACKING_INTERNAL_H_

#include <pcl/gpu/containers/device_array.h>
#include <pcl/gpu/utils/safe_call.hpp>

#include <curand.h>
#include <curand_kernel.h>

namespace pcl
{
  namespace device
  {

    struct float8 { float x, y, z, w, roll, pitch, yaw, weight; };
    typedef float8 StateType;

    typedef float4 PointType;
    typedef uchar4 PixelRGB;
    typedef float4 NormalType;


    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 );

    /*
    void
      resample (StateXYZ& motion_xyz, StateRPY& motion_rpy, float motion_ratio,
      int num_particles, PtrSz<StateXYZ>& particles_xyz_, PtrSz<StateRPY>& particles_rpy_, PtrSz<float>& particles_weight_);
    void
      weight (const PtrSz<PointType>& input, const PtrSz<PixelRGB>& input_color,
      const PtrSz<PointType>& ref, const PtrSz<PixelRGB>& ref_color,
      int num_particles, PtrSz<StateXYZ>& particles_xyz_, PtrSz<StateRPY>& particles_rpy_, PtrSz<float>& particles_weight_);
    void
      update (int num_particles, PtrSz<StateXYZ>& particles_xyz_, PtrSz<StateRPY>& particles_rpy_, PtrSz<float>& particles_weight_,
      StateXYZ& representative_state_xyz, StateRPY& representative_state_rpy,
      StateXYZ& motion_xyz, StateRPY& motion_rpy);
      */
  }
}


#endif // PCL_TRACKING_INTERNAL_H_