Point Cloud Library (PCL)
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include
pcl
tracking
approx_nearest_pair_point_cloud_coherence.h
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#ifndef PCL_TRACKING_APPROX_NEAREST_PAIR_POINT_CLOUD_COHERENCE_H_
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#define PCL_TRACKING_APPROX_NEAREST_PAIR_POINT_CLOUD_COHERENCE_H_
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#include <pcl/search/search.h>
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#include <pcl/search/octree.h>
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#include <pcl/tracking/nearest_pair_point_cloud_coherence.h>
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namespace
pcl
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{
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namespace
tracking
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{
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/** \brief @b ApproxNearestPairPointCloudCoherence computes coherence between two pointclouds using the
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approximate nearest point pairs.
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* \author Ryohei Ueda
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* \ingroup tracking
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*/
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template
<
typename
Po
int
InT>
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class
ApproxNearestPairPointCloudCoherence
:
public
NearestPairPointCloudCoherence
<PointInT>
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{
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public
:
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typedef
typename
NearestPairPointCloudCoherence<PointInT>::PointCoherencePtr
PointCoherencePtr
;
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typedef
typename
NearestPairPointCloudCoherence<PointInT>::PointCloudInConstPtr
PointCloudInConstPtr
;
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//using NearestPairPointCloudCoherence<PointInT>::search_;
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using
NearestPairPointCloudCoherence<PointInT>::maximum_distance_
;
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using
NearestPairPointCloudCoherence<PointInT>::target_input_
;
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using
NearestPairPointCloudCoherence<PointInT>::point_coherences_
;
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using
NearestPairPointCloudCoherence<PointInT>::coherence_name_
;
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using
NearestPairPointCloudCoherence<PointInT>::new_target_
;
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using
NearestPairPointCloudCoherence<PointInT>::getClassName
;
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/** \brief empty constructor */
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ApproxNearestPairPointCloudCoherence
() :
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NearestPairPointCloudCoherence
<PointInT> (),
search_
()
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{
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coherence_name_
=
"ApproxNearestPairPointCloudCoherence"
;
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}
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protected
:
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/** \brief This method should get called before starting the actual computation. */
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virtual
bool
initCompute
();
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/** \brief compute the nearest pairs and compute coherence using point_coherences_ */
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virtual
void
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computeCoherence
(
const
PointCloudInConstPtr
&cloud,
const
IndicesConstPtr
&indices,
float
&w_j);
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typename
boost::shared_ptr<pcl::search::Octree<PointInT> >
search_
;
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};
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}
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}
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#ifdef PCL_NO_PRECOMPILE
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#include <pcl/tracking/impl/approx_nearest_pair_point_cloud_coherence.hpp>
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#endif
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#endif
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