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

NormalCoherence computes coherence between two points from the angle between their normals. More...

#include <pcl/tracking/normal_coherence.h>

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

List of all members.

Public Member Functions

 NormalCoherence ()
 initialize the weight to 1.0.
void setWeight (double weight)
 set the weight of coherence
double getWeight ()
 get the weight of coherence

Protected Member Functions

double computeCoherence (PointInT &source, PointInT &target)
 return the normal coherence between the two points.

Protected Attributes

double weight_
 the weight of coherence

Detailed Description

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

NormalCoherence computes coherence between two points from the angle between their normals.

the coherence is calculated by 1 / (1 + weight * theta^2 ).

Author:
Ryohei Ueda

Definition at line 15 of file normal_coherence.h.


Constructor & Destructor Documentation

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

initialize the weight to 1.0.

Definition at line 20 of file normal_coherence.h.


Member Function Documentation

template<typename PointInT >
double pcl::tracking::NormalCoherence< PointInT >::computeCoherence ( PointInT &  source,
PointInT &  target 
) [protected, virtual]

return the normal coherence between the two points.

Parameters:
sourceinstance of source point.
targetinstance of target point.

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

Definition at line 9 of file normal_coherence.hpp.

References pcl::getAngle3D().

template<typename PointInT >
double pcl::tracking::NormalCoherence< PointInT >::getWeight ( ) [inline]

get the weight of coherence

Definition at line 31 of file normal_coherence.h.

References pcl::tracking::NormalCoherence< PointInT >::weight_.

template<typename PointInT >
void pcl::tracking::NormalCoherence< PointInT >::setWeight ( double  weight) [inline]

set the weight of coherence

Parameters:
weightthe weight of coherence

Definition at line 28 of file normal_coherence.h.

References pcl::tracking::NormalCoherence< PointInT >::weight_.


Member Data Documentation

template<typename PointInT >
double pcl::tracking::NormalCoherence< PointInT >::weight_ [protected]

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