1 #ifndef PCL_TRACKING_IMPL_NORMAL_COHERENCE_H_
2 #define PCL_TRACKING_IMPL_NORMAL_COHERENCE_H_
5 #include <pcl/console/print.h>
6 #include <pcl/tracking/normal_coherence.h>
10 template <
typename Po
intInT>
14 Eigen::Vector4f n = source.getNormalVector4fMap();
15 Eigen::Vector4f n_dash = target.getNormalVector4fMap();
16 if (n.norm() <= 1e-5 || n_dash.norm() <= 1e-5) {
17 PCL_ERROR(
"norm might be ZERO!\n");
18 std::cout <<
"source: " << source << std::endl;
19 std::cout <<
"target: " << target << std::endl;
26 if (!std::isnan(theta))
27 return 1.0 / (1.0 + weight_ * theta * theta);
33 #define PCL_INSTANTIATE_NormalCoherence(T) \
34 template class PCL_EXPORTS pcl::tracking::NormalCoherence<T>;
double computeCoherence(PointInT &source, PointInT &target) override
return the normal coherence between the two points.
Define standard C methods and C++ classes that are common to all methods.
double getAngle3D(const Eigen::Vector4f &v1, const Eigen::Vector4f &v2, const bool in_degree=false)
Compute the smallest angle between two 3D vectors in radians (default) or degree.