1#ifndef PCL_TRACKING_IMPL_NEAREST_PAIR_POINT_CLOUD_COHERENCE_H_
2#define PCL_TRACKING_IMPL_NEAREST_PAIR_POINT_CLOUD_COHERENCE_H_
4#include <pcl/search/kdtree.h>
5#include <pcl/tracking/nearest_pair_point_cloud_coherence.h>
9template <
typename Po
intInT>
16 for (std::size_t i = 0; i < cloud->size(); i++) {
23 if (
k_distance < maximum_distance_ * maximum_distance_) {
28 for (std::size_t i = 0; i < point_coherences_.size(); i++) {
36 w = -
static_cast<float>(
val);
39template <
typename Po
intInT>
44 PCL_ERROR(
"[pcl::%s::initCompute] PointCloudCoherence::Init failed.\n",
45 getClassName().
c_str());
54 if (new_target_ && target_input_) {
55 search_->setInputCloud(target_input_);
64#define PCL_INSTANTIATE_NearestPairPointCloudCoherence(T) \
65 template class PCL_EXPORTS pcl::tracking::NearestPairPointCloudCoherence<T>;
Iterator class for point clouds with or without given indices.
search::KdTree is a wrapper class which inherits the pcl::KdTree class for performing search function...
bool initCompute() override
This method should get called before starting the actual computation.
typename PointCloudCoherence< PointInT >::PointCoherencePtr PointCoherencePtr
typename PointCloudCoherence< PointInT >::PointCloudInConstPtr PointCloudInConstPtr
void computeCoherence(const PointCloudInConstPtr &cloud, const IndicesConstPtr &indices, float &w_j) override
compute the nearest pairs and compute coherence using point_coherences_
PointCloudCoherence is a base class to compute coherence between the two PointClouds.
shared_ptr< const Indices > IndicesConstPtr