1 #ifndef PCL_TRACKING_IMPL_NORMAL_COHERENCE_H_
2 #define PCL_TRACKING_IMPL_NORMAL_COHERENCE_H_
4 #include <pcl/common/common.h>
5 #include <pcl/console/print.h>
6 #include <pcl/tracking/normal_coherence.h>
8 template <
typename Po
intInT>
double
11 Eigen::Vector4f n = source.getNormalVector4fMap ();
12 Eigen::Vector4f n_dash = target.getNormalVector4fMap ();
13 if ( n.norm () <= 1e-5 || n_dash.norm () <= 1e-5 )
15 PCL_ERROR(
"norm might be ZERO!\n");
16 std::cout <<
"source: " << source << std::endl;
17 std::cout <<
"target: " << target << std::endl;
26 if (!pcl_isnan (theta))
27 return 1.0 / (1.0 + weight_ * theta * theta);
34 #define PCL_INSTANTIATE_NormalCoherence(T) template class PCL_EXPORTS pcl::tracking::NormalCoherence<T>;