internal.h

#pragma once
 
#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; };  
    using StateType = float8;   
 
    using PointType = float4;
    using PixelRGB = uchar4;
    using NormalType = float4;
    
    
    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);
      */      
  }
}