Point Cloud Library (PCL)  1.14.1-dev
coherence.hpp
1 #ifndef PCL_TRACKING_IMPL_COHERENCE_H_
2 #define PCL_TRACKING_IMPL_COHERENCE_H_
3 
4 #include <pcl/console/print.h>
5 #include <pcl/tracking/coherence.h>
6 
7 namespace pcl {
8 namespace tracking {
9 
10 template <typename PointInT>
11 double
12 PointCoherence<PointInT>::compute(PointInT& source, PointInT& target)
13 {
14  return computeCoherence(source, target);
15 }
16 
17 template <typename PointInT>
18 double
19 PointCloudCoherence<PointInT>::calcPointCoherence(PointInT& source, PointInT& target)
20 {
21  double val = 0.0;
22  for (std::size_t i = 0; i < point_coherences_.size(); i++) {
23  PointCoherencePtr coherence = point_coherences_[i];
24  double d = std::log(coherence->compute(source, target));
25  // double d = coherence->compute (source, target);
26  if (!std::isnan(d))
27  val += d;
28  else
29  PCL_WARN("nan!\n");
30  }
31  return val;
32 }
33 
34 template <typename PointInT>
35 bool
37 {
38  if (!target_input_ || target_input_->points.empty()) {
39  PCL_ERROR("[pcl::%s::compute] target_input_ is empty!\n", getClassName().c_str());
40  return false;
41  }
42 
43  return true;
44 }
45 
46 template <typename PointInT>
47 void
49  const IndicesConstPtr& indices,
50  float& w)
51 {
52  if (!initCompute()) {
53  PCL_ERROR("[pcl::%s::compute] Init failed.\n", getClassName().c_str());
54  return;
55  }
56  computeCoherence(cloud, indices, w);
57 }
58 } // namespace tracking
59 } // namespace pcl
60 
61 #endif
virtual bool initCompute()
This method should get called before starting the actual computation.
Definition: coherence.hpp:36
typename PointCloudIn::ConstPtr PointCloudInConstPtr
Definition: coherence.h:66
typename PointCoherence< PointInT >::Ptr PointCoherencePtr
Definition: coherence.h:68
double calcPointCoherence(PointInT &source, PointInT &target)
Definition: coherence.hpp:19
void compute(const PointCloudInConstPtr &cloud, const IndicesConstPtr &indices, float &w_i)
compute coherence between two pointclouds.
Definition: coherence.hpp:48
double compute(PointInT &source, PointInT &target)
compute coherence from the source point to the target point.
Definition: coherence.hpp:12
shared_ptr< const Indices > IndicesConstPtr
Definition: pcl_base.h:59