Point Cloud Library (PCL)  1.7.0
Public Types | Public Member Functions | Protected Member Functions | Protected Attributes
pcl::tracking::NearestPairPointCloudCoherence< PointInT > Class Template Reference

NearestPairPointCloudCoherence computes coherence between two pointclouds using the nearest point pairs. More...

#include <pcl/tracking/nearest_pair_point_cloud_coherence.h>

+ Inheritance diagram for pcl::tracking::NearestPairPointCloudCoherence< PointInT >:

List of all members.

Public Types

typedef PointCloudCoherence
< PointInT >
::PointCoherencePtr 
PointCoherencePtr
typedef PointCloudCoherence
< PointInT >
::PointCloudInConstPtr 
PointCloudInConstPtr
typedef PointCloudCoherence
< PointInT > 
BaseClass
typedef boost::shared_ptr
< NearestPairPointCloudCoherence
< PointInT > > 
Ptr
typedef boost::shared_ptr
< const
NearestPairPointCloudCoherence
< PointInT > > 
ConstPtr
typedef boost::shared_ptr
< pcl::search::Search
< PointInT > > 
SearchPtr
typedef boost::shared_ptr
< const pcl::search::Search
< PointInT > > 
SearchConstPtr

Public Member Functions

 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 in the input dataset.
SearchPtr getSearchMethod ()
 Get a pointer to the point cloud dataset.
virtual void setTargetCloud (const PointCloudInConstPtr &cloud)
 add a PointCoherence to the PointCloudCoherence.
void setMaximumDistance (double val)
 set maximum distance to be taken into account.

Protected Member Functions

virtual bool initCompute ()
 This method should get called before starting the actual computation.
virtual void computeCoherence (const PointCloudInConstPtr &cloud, const IndicesConstPtr &indices, float &w_j)
 compute the nearest pairs and compute coherence using point_coherences_

Protected Attributes

bool new_target_
 A flag which is true if target_input_ is updated.
SearchPtr search_
 A pointer to the spatial search object.
double maximum_distance_
 max of distance for points to be taken into account

Detailed Description

template<typename PointInT>
class pcl::tracking::NearestPairPointCloudCoherence< PointInT >

NearestPairPointCloudCoherence computes coherence between two pointclouds using the nearest point pairs.

Author:
Ryohei Ueda

Definition at line 18 of file nearest_pair_point_cloud_coherence.h.


Member Typedef Documentation

template<typename PointInT>
typedef PointCloudCoherence<PointInT> pcl::tracking::NearestPairPointCloudCoherence< PointInT >::BaseClass

Definition at line 27 of file nearest_pair_point_cloud_coherence.h.

template<typename PointInT>
typedef boost::shared_ptr<const NearestPairPointCloudCoherence<PointInT> > pcl::tracking::NearestPairPointCloudCoherence< PointInT >::ConstPtr
template<typename PointInT>
typedef boost::shared_ptr<NearestPairPointCloudCoherence<PointInT> > pcl::tracking::NearestPairPointCloudCoherence< PointInT >::Ptr
template<typename PointInT>
typedef boost::shared_ptr<const pcl::search::Search<PointInT> > pcl::tracking::NearestPairPointCloudCoherence< PointInT >::SearchConstPtr

Definition at line 32 of file nearest_pair_point_cloud_coherence.h.

template<typename PointInT>
typedef boost::shared_ptr<pcl::search::Search<PointInT> > pcl::tracking::NearestPairPointCloudCoherence< PointInT >::SearchPtr

Definition at line 31 of file nearest_pair_point_cloud_coherence.h.


Constructor & Destructor Documentation

template<typename PointInT>
pcl::tracking::NearestPairPointCloudCoherence< PointInT >::NearestPairPointCloudCoherence ( ) [inline]

Member Function Documentation

template<typename PointInT >
void pcl::tracking::NearestPairPointCloudCoherence< PointInT >::computeCoherence ( const PointCloudInConstPtr cloud,
const IndicesConstPtr indices,
float &  w_j 
) [protected, virtual]

compute the nearest pairs and compute coherence using point_coherences_

Implements pcl::tracking::PointCloudCoherence< PointInT >.

Reimplemented in pcl::tracking::ApproxNearestPairPointCloudCoherence< PointInT >.

Definition at line 13 of file nearest_pair_point_cloud_coherence.hpp.

template<typename PointInT>
SearchPtr pcl::tracking::NearestPairPointCloudCoherence< PointInT >::getSearchMethod ( ) [inline]

Get a pointer to the point cloud dataset.

Definition at line 55 of file nearest_pair_point_cloud_coherence.h.

References pcl::tracking::NearestPairPointCloudCoherence< PointInT >::search_.

template<typename PointInT >
bool pcl::tracking::NearestPairPointCloudCoherence< PointInT >::initCompute ( ) [protected, virtual]

This method should get called before starting the actual computation.

Reimplemented from pcl::tracking::PointCloudCoherence< PointInT >.

Reimplemented in pcl::tracking::ApproxNearestPairPointCloudCoherence< PointInT >.

Definition at line 45 of file nearest_pair_point_cloud_coherence.hpp.

template<typename PointInT>
void pcl::tracking::NearestPairPointCloudCoherence< PointInT >::setMaximumDistance ( double  val) [inline]

set maximum distance to be taken into account.

Parameters:
[in]valmaximum distance.

Definition at line 70 of file nearest_pair_point_cloud_coherence.h.

References pcl::tracking::NearestPairPointCloudCoherence< PointInT >::maximum_distance_.

template<typename PointInT>
void pcl::tracking::NearestPairPointCloudCoherence< PointInT >::setSearchMethod ( const SearchPtr search) [inline]

Provide a pointer to a dataset to add additional information to estimate the features for every point in the input dataset.

This is optional, if this is not set, it will only use the data in the input cloud to estimate the features. This is useful when you only need to compute the features for a downsampled cloud.

Parameters:
clouda pointer to a PointCloud message

Definition at line 51 of file nearest_pair_point_cloud_coherence.h.

References pcl::tracking::NearestPairPointCloudCoherence< PointInT >::search_.

template<typename PointInT>
virtual void pcl::tracking::NearestPairPointCloudCoherence< PointInT >::setTargetCloud ( const PointCloudInConstPtr cloud) [inline, virtual]

Member Data Documentation

template<typename PointInT>
double pcl::tracking::NearestPairPointCloudCoherence< PointInT >::maximum_distance_ [protected]

max of distance for points to be taken into account

Definition at line 85 of file nearest_pair_point_cloud_coherence.h.

Referenced by pcl::tracking::NearestPairPointCloudCoherence< PointInT >::setMaximumDistance().

template<typename PointInT>
bool pcl::tracking::NearestPairPointCloudCoherence< PointInT >::new_target_ [protected]

A flag which is true if target_input_ is updated.

Definition at line 79 of file nearest_pair_point_cloud_coherence.h.

Referenced by pcl::tracking::NearestPairPointCloudCoherence< PointInT >::setTargetCloud().

template<typename PointInT>
SearchPtr pcl::tracking::NearestPairPointCloudCoherence< PointInT >::search_ [protected]

The documentation for this class was generated from the following files: