Point Cloud Library (PCL)  1.11.0
approx_nearest_pair_point_cloud_coherence.h
1 #pragma once
2 
3 #include <pcl/search/search.h>
4 #include <pcl/search/octree.h>
5 #include <pcl/tracking/nearest_pair_point_cloud_coherence.h>
6 namespace pcl
7 {
8  namespace tracking
9  {
10  /** \brief @b ApproxNearestPairPointCloudCoherence computes coherence between two pointclouds using the
11  approximate nearest point pairs.
12  * \author Ryohei Ueda
13  * \ingroup tracking
14  */
15  template <typename PointInT>
17  {
18  public:
21  //using NearestPairPointCloudCoherence<PointInT>::search_;
28 
29  /** \brief empty constructor */
32  {
33  coherence_name_ = "ApproxNearestPairPointCloudCoherence";
34  }
35 
36  protected:
37  /** \brief This method should get called before starting the actual computation. */
38  bool initCompute () override;
39 
40  /** \brief compute the nearest pairs and compute coherence using point_coherences_ */
41  void
42  computeCoherence (const PointCloudInConstPtr &cloud, const IndicesConstPtr &indices, float &w_j) override;
43 
45  };
46  }
47 }
48 
49 #ifdef PCL_NO_PRECOMPILE
50 #include <pcl/tracking/impl/approx_nearest_pair_point_cloud_coherence.hpp>
51 #endif
shared_ptr< pcl::search::Octree< PointT, LeafTWrap, BranchTWrap, OctreeT > > Ptr
Definition: octree.h:72
ApproxNearestPairPointCloudCoherence computes coherence between two pointclouds using the approximate...
bool initCompute() override
This method should get called before starting the actual computation.
typename NearestPairPointCloudCoherence< PointInT >::PointCloudInConstPtr PointCloudInConstPtr
void computeCoherence(const PointCloudInConstPtr &cloud, const IndicesConstPtr &indices, float &w_j) override
compute the nearest pairs and compute coherence using point_coherences_
typename NearestPairPointCloudCoherence< PointInT >::PointCoherencePtr PointCoherencePtr
NearestPairPointCloudCoherence computes coherence between two pointclouds using the nearest point pai...
typename PointCloudCoherence< PointInT >::PointCloudInConstPtr PointCloudInConstPtr
typename PointCloudCoherence< PointInT >::PointCoherencePtr PointCoherencePtr
std::string coherence_name_
The coherence name.
Definition: coherence.h:119
shared_ptr< const Indices > IndicesConstPtr
Definition: pcl_base.h:62