1 #ifndef PCL_TRACKING_NEAREST_PAIR_POINT_CLOUD_COHERENCE_H_
2 #define PCL_TRACKING_NEAREST_PAIR_POINT_CLOUD_COHERENCE_H_
4 #include <pcl/search/search.h>
6 #include <pcl/tracking/coherence.h>
17 template <
typename Po
intInT>
29 typedef boost::shared_ptr<NearestPairPointCloudCoherence<PointInT> >
Ptr;
30 typedef boost::shared_ptr<const NearestPairPointCloudCoherence<PointInT> >
ConstPtr;
31 typedef boost::shared_ptr<pcl::search::Search<PointInT> >
SearchPtr;
32 typedef boost::shared_ptr<const pcl::search::Search<PointInT> >
SearchConstPtr;
96 #ifdef PCL_NO_PRECOMPILE
97 #include <pcl/tracking/impl/nearest_pair_point_cloud_coherence.hpp>
NearestPairPointCloudCoherence()
empty constructor
void setSearchMethod(const SearchPtr &search)
Provide a pointer to a dataset to add additional information to estimate the features for every point...
PointCloudCoherence< PointInT >::PointCoherencePtr PointCoherencePtr
bool new_target_
A flag which is true if target_input_ is updated.
double maximum_distance_
max of distance for points to be taken into account
PointCloudCoherence< PointInT > BaseClass
virtual void computeCoherence(const PointCloudInConstPtr &cloud, const IndicesConstPtr &indices, float &w_j)
compute the nearest pairs and compute coherence using point_coherences_
SearchPtr getSearchMethod()
Get a pointer to the point cloud dataset.
PointCloudIn::ConstPtr PointCloudInConstPtr
boost::shared_ptr< const pcl::search::Search< PointInT > > SearchConstPtr
SearchPtr search_
A pointer to the spatial search object.
virtual void setTargetCloud(const PointCloudInConstPtr &cloud)
add a PointCoherence to the PointCloudCoherence.
boost::shared_ptr< pcl::search::Search< PointInT > > SearchPtr
PointCloudCoherence< PointInT >::PointCloudInConstPtr PointCloudInConstPtr
void setMaximumDistance(double val)
set maximum distance to be taken into account.
boost::shared_ptr< const std::vector< int > > IndicesConstPtr
PointCoherence< PointInT >::Ptr PointCoherencePtr
PointCloudCoherence is a base class to compute coherence between the two PointClouds.
virtual void setTargetCloud(const PointCloudInConstPtr &cloud)
add a PointCoherence to the PointCloudCoherence.
boost::shared_ptr< const NearestPairPointCloudCoherence< PointInT > > ConstPtr
NearestPairPointCloudCoherence computes coherence between two pointclouds using the nearest point pai...
boost::shared_ptr< NearestPairPointCloudCoherence< PointInT > > Ptr
std::string coherence_name_
The coherence name.
virtual bool initCompute()
This method should get called before starting the actual computation.