Point Cloud Library (PCL) 1.12.0
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approx_nearest_pair_point_cloud_coherence.h
1#pragma once
2
3#include <pcl/search/octree.h>
4#include <pcl/tracking/nearest_pair_point_cloud_coherence.h>
5
6namespace pcl {
7namespace tracking {
8/** \brief @b ApproxNearestPairPointCloudCoherence computes coherence between
9 * two pointclouds using the approximate nearest point pairs.
10 * \author Ryohei Ueda
11 * \ingroup tracking
12 */
13template <typename PointInT>
15: public NearestPairPointCloudCoherence<PointInT> {
16public:
21 // using NearestPairPointCloudCoherence<PointInT>::search_;
28
29 /** \brief empty constructor */
32 {
33 coherence_name_ = "ApproxNearestPairPointCloudCoherence";
34 }
35
36protected:
37 /** \brief This method should get called before starting the actual
38 * computation.
39 */
40 bool
41 initCompute() override;
42
43 /** \brief compute the nearest pairs and compute coherence using
44 * point_coherences_
45 */
46 void
48 const IndicesConstPtr& indices,
49 float& w_j) override;
50
52};
53} // namespace tracking
54} // namespace pcl
55
56#ifdef PCL_NO_PRECOMPILE
57#include <pcl/tracking/impl/approx_nearest_pair_point_cloud_coherence.hpp>
58#endif
Iterator class for point clouds with or without given indices.
ApproxNearestPairPointCloudCoherence computes coherence between two pointclouds using the approximate...
bool initCompute() override
This method should get called before starting the actual computation.
typename NearestPairPointCloudCoherence< PointInT >::PointCloudInConstPtr PointCloudInConstPtr
typename NearestPairPointCloudCoherence< PointInT >::PointCoherencePtr PointCoherencePtr
void computeCoherence(const PointCloudInConstPtr &cloud, const IndicesConstPtr &indices, float &w_j) override
compute the nearest pairs and compute coherence using point_coherences_
NearestPairPointCloudCoherence computes coherence between two pointclouds using the nearest point pai...
bool new_target_
A flag which is true if target_input_ is updated.
typename PointCloudCoherence< PointInT >::PointCoherencePtr PointCoherencePtr
typename PointCloudCoherence< PointInT >::PointCloudInConstPtr PointCloudInConstPtr
double maximum_distance_
max of distance for points to be taken into account
PointCloudInConstPtr target_input_
a pointer to target point cloud
Definition coherence.h:141
const std::string & getClassName() const
Get a string representation of the name of this class.
Definition coherence.h:132
std::string coherence_name_
The coherence name.
Definition coherence.h:138
std::vector< PointCoherencePtr > point_coherences_
a list of pointers to PointCoherence.
Definition coherence.h:144
shared_ptr< const Indices > IndicesConstPtr
Definition pcl_base.h:59