Point Cloud Library (PCL)  1.14.1-dev
List of all members | Public Types | Public Member Functions | Protected Member Functions | Protected Attributes
pcl::tracking::ApproxNearestPairPointCloudCoherence< PointInT > Class Template Reference

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

#include <pcl/tracking/approx_nearest_pair_point_cloud_coherence.h>

+ 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< PointCoherencePtrgetPointCoherences ()
 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< PointCoherencePtrpoint_coherences_
 a list of pointers to PointCoherence. More...
 

Detailed Description

template<typename PointInT>
class pcl::tracking::ApproxNearestPairPointCloudCoherence< PointInT >

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

Author
Ryohei Ueda

Definition at line 14 of file approx_nearest_pair_point_cloud_coherence.h.

Member Typedef Documentation

◆ PointCloudInConstPtr

Definition at line 19 of file approx_nearest_pair_point_cloud_coherence.h.

◆ PointCoherencePtr

Definition at line 17 of file approx_nearest_pair_point_cloud_coherence.h.

Constructor & Destructor Documentation

◆ ApproxNearestPairPointCloudCoherence()

Member Function Documentation

◆ computeCoherence()

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

compute the nearest pairs and compute coherence using point_coherences_

Implements pcl::tracking::PointCloudCoherence< PointInT >.

Definition at line 11 of file approx_nearest_pair_point_cloud_coherence.hpp.

◆ initCompute()

template<typename PointInT >
bool pcl::tracking::ApproxNearestPairPointCloudCoherence< PointInT >::initCompute
overrideprotectedvirtual

This method should get called before starting the actual computation.

Reimplemented from pcl::tracking::PointCloudCoherence< PointInT >.

Definition at line 38 of file approx_nearest_pair_point_cloud_coherence.hpp.

Member Data Documentation

◆ search_

template<typename PointInT >
pcl::search::Octree<PointInT>::Ptr pcl::tracking::ApproxNearestPairPointCloudCoherence< PointInT >::search_
protected

Definition at line 51 of file approx_nearest_pair_point_cloud_coherence.h.


The documentation for this class was generated from the following files: