Point Cloud Library (PCL)  1.14.1-dev
approx_nearest_pair_point_cloud_coherence.h
1 #pragma once
2 
3 #include <pcl/search/octree.h>
4 #include <pcl/tracking/nearest_pair_point_cloud_coherence.h>
5 
6 namespace pcl {
7 namespace tracking {
8 /** \brief @b ApproxNearestPairPointCloudCoherence computes coherence between
9  * two pointclouds using the approximate nearest point pairs.
10  * \author Ryohei Ueda
11  * \ingroup tracking
12  */
13 template <typename PointInT>
15 : public NearestPairPointCloudCoherence<PointInT> {
16 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
38  * computation.
39  */
40  bool
41  initCompute() override;
42 
43  /** \brief compute the nearest pairs and compute coherence using
44  * point_coherences_
45  */
46  void
48  const IndicesConstPtr& indices,
49  float& w_j) override;
50 
52 };
53 } // namespace tracking
54 } // namespace pcl
55 
56 #ifdef PCL_NO_PRECOMPILE
57 #include <pcl/tracking/impl/approx_nearest_pair_point_cloud_coherence.hpp>
58 #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:138
shared_ptr< const Indices > IndicesConstPtr
Definition: pcl_base.h:59