ApproxNearestPairPointCloudCoherence computes coherence between two pointclouds using the approximate nearest point pairs. More...

Inheritance diagram for pcl::tracking::ApproxNearestPairPointCloudCoherence< PointInT >:

Collaboration diagram for pcl::tracking::ApproxNearestPairPointCloudCoherence< PointInT >:

Public Types
using	PointCoherencePtr = typename NearestPairPointCloudCoherence< PointInT >::PointCoherencePtr

using	PointCloudInConstPtr = typename NearestPairPointCloudCoherence< PointInT >::PointCloudInConstPtr

Public Types inherited from pcl::tracking::NearestPairPointCloudCoherence< PointInT >
using	PointCoherencePtr = typename PointCloudCoherence< PointInT >::PointCoherencePtr

using	PointCloudInConstPtr = typename PointCloudCoherence< PointInT >::PointCloudInConstPtr

using	BaseClass = PointCloudCoherence< PointInT >

using	Ptr = shared_ptr< NearestPairPointCloudCoherence< PointInT > >

using	ConstPtr = shared_ptr< const NearestPairPointCloudCoherence< PointInT > >

using	SearchPtr = typename pcl::search::Search< PointInT >::Ptr

using	SearchConstPtr = typename pcl::search::Search< PointInT >::ConstPtr

Public Types inherited from pcl::tracking::PointCloudCoherence< PointInT >
using	Ptr = shared_ptr< PointCloudCoherence< PointInT > >

using	ConstPtr = shared_ptr< const PointCloudCoherence< PointInT > >

using	PointCloudIn = pcl::PointCloud< PointInT >

using	PointCloudInPtr = typename PointCloudIn::Ptr

using	PointCloudInConstPtr = typename PointCloudIn::ConstPtr

using	PointCoherencePtr = typename PointCoherence< PointInT >::Ptr

Public Member Functions
	ApproxNearestPairPointCloudCoherence ()
	empty constructor More...

Public Member Functions inherited from pcl::tracking::NearestPairPointCloudCoherence< PointInT >
	NearestPairPointCloudCoherence ()
	empty constructor More...

void	setSearchMethod (const SearchPtr &search)
	Provide a pointer to a dataset to add additional information to estimate the features for every point in the input dataset. More...

SearchPtr	getSearchMethod ()
	Get a pointer to the point cloud dataset. More...

void	setTargetCloud (const PointCloudInConstPtr &cloud) override
	add a PointCoherence to the PointCloudCoherence. More...

void	setMaximumDistance (double val)
	set maximum distance to be taken into account. More...

Public Member Functions inherited from pcl::tracking::PointCloudCoherence< PointInT >
	PointCloudCoherence ()
	Constructor. More...

virtual	~PointCloudCoherence ()=default
	Destructor. More...

void	compute (const PointCloudInConstPtr &cloud, const IndicesConstPtr &indices, float &w_i)
	compute coherence between two pointclouds. More...

std::vector< PointCoherencePtr >	getPointCoherences ()
	get a list of pcl::tracking::PointCoherence. More...

void	setPointCoherences (std::vector< PointCoherencePtr > coherences)
	set a list of pcl::tracking::PointCoherence. More...

void	addPointCoherence (PointCoherencePtr coherence)
	add a PointCoherence to the PointCloudCoherence. More...

Protected Member Functions
bool	initCompute () override
	This method should get called before starting the actual computation. More...

void	computeCoherence (const PointCloudInConstPtr &cloud, const IndicesConstPtr &indices, float &w_j) override
	compute the nearest pairs and compute coherence using point_coherences_ More...

Protected Member Functions inherited from pcl::tracking::NearestPairPointCloudCoherence< PointInT >
bool	initCompute () override
	This method should get called before starting the actual computation. More...

void	computeCoherence (const PointCloudInConstPtr &cloud, const IndicesConstPtr &indices, float &w_j) override
	compute the nearest pairs and compute coherence using point_coherences_ More...

Protected Member Functions inherited from pcl::tracking::PointCloudCoherence< PointInT >
double	calcPointCoherence (PointInT &source, PointInT &target)

const std::string &	getClassName () const
	Get a string representation of the name of this class. More...

Protected Attributes
pcl::search::Octree< PointInT >::Ptr	search_

Protected Attributes inherited from pcl::tracking::NearestPairPointCloudCoherence< PointInT >
bool	new_target_ {false}
	A flag which is true if target_input_ is updated. More...

SearchPtr	search_ {nullptr}
	A pointer to the spatial search object. More...

double	maximum_distance_ {std::numeric_limits<double>::max()}
	max of distance for points to be taken into account More...

Protected Attributes inherited from pcl::tracking::PointCloudCoherence< PointInT >
std::string	coherence_name_
	The coherence name. More...

PointCloudInConstPtr	target_input_
	a pointer to target point cloud More...

std::vector< PointCoherencePtr >	point_coherences_
	a list of pointers to PointCoherence. More...

Detailed Description

ApproxNearestPairPointCloudCoherence computes coherence between two pointclouds using the approximate nearest point pairs.

Member Typedef Documentation

template<typename PointInT >

template<typename PointInT >

template<typename PointInT >

pcl::tracking::ApproxNearestPairPointCloudCoherence< PointInT >::ApproxNearestPairPointCloudCoherence ( )

inline

empty constructor

template<typename PointInT >

void pcl::tracking::ApproxNearestPairPointCloudCoherence< PointInT >::computeCoherence	(	const PointCloudInConstPtr &	cloud,
		const IndicesConstPtr &	indices,
		float &	w_j
	)