Point Cloud Library (PCL) 1.13.0
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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
shared_ptr< pcl::search::Octree< PointT, LeafTWrap, BranchTWrap, OctreeT > > Ptr
Definition octree.h:72
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
void computeCoherence(const PointCloudInConstPtr &cloud, const IndicesConstPtr &indices, float &w_j) override
compute the nearest pairs and compute coherence using point_coherences_
typename NearestPairPointCloudCoherence< PointInT >::PointCoherencePtr PointCoherencePtr
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 >::PointCloudInConstPtr PointCloudInConstPtr
typename PointCloudCoherence< PointInT >::PointCoherencePtr PointCoherencePtr
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