Point Cloud Library (PCL) 1.13.1
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ApproxNearestPairPointCloudCoherence computes coherence between two pointclouds using the approximate nearest point pairs. More...
#include <pcl/tracking/approx_nearest_pair_point_cloud_coherence.h>
Public Member Functions | |
ApproxNearestPairPointCloudCoherence () | |
empty constructor | |
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NearestPairPointCloudCoherence () | |
empty constructor | |
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. | |
SearchPtr | getSearchMethod () |
Get a pointer to the point cloud dataset. | |
void | setTargetCloud (const PointCloudInConstPtr &cloud) override |
add a PointCoherence to the PointCloudCoherence. | |
void | setMaximumDistance (double val) |
set maximum distance to be taken into account. | |
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PointCloudCoherence () | |
Constructor. | |
virtual | ~PointCloudCoherence ()=default |
Destructor. | |
void | compute (const PointCloudInConstPtr &cloud, const IndicesConstPtr &indices, float &w_i) |
compute coherence between two pointclouds. | |
std::vector< PointCoherencePtr > | getPointCoherences () |
get a list of pcl::tracking::PointCoherence. | |
void | setPointCoherences (std::vector< PointCoherencePtr > coherences) |
set a list of pcl::tracking::PointCoherence. | |
void | addPointCoherence (PointCoherencePtr coherence) |
add a PointCoherence to the PointCloudCoherence. | |
Protected Member Functions | |
bool | initCompute () override |
This method should get called before starting the actual computation. | |
void | computeCoherence (const PointCloudInConstPtr &cloud, const IndicesConstPtr &indices, float &w_j) override |
compute the nearest pairs and compute coherence using point_coherences_ | |
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bool | initCompute () override |
This method should get called before starting the actual computation. | |
void | computeCoherence (const PointCloudInConstPtr &cloud, const IndicesConstPtr &indices, float &w_j) override |
compute the nearest pairs and compute coherence using point_coherences_ | |
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double | calcPointCoherence (PointInT &source, PointInT &target) |
const std::string & | getClassName () const |
Get a string representation of the name of this class. | |
Protected Attributes | |
pcl::search::Octree< PointInT >::Ptr | search_ |
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bool | new_target_ |
A flag which is true if target_input_ is updated. | |
SearchPtr | search_ |
A pointer to the spatial search object. | |
double | maximum_distance_ |
max of distance for points to be taken into account | |
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std::string | coherence_name_ |
The coherence name. | |
PointCloudInConstPtr | target_input_ |
a pointer to target point cloud | |
std::vector< PointCoherencePtr > | point_coherences_ |
a list of pointers to PointCoherence. | |
ApproxNearestPairPointCloudCoherence computes coherence between two pointclouds using the approximate nearest point pairs.
Definition at line 14 of file approx_nearest_pair_point_cloud_coherence.h.
using pcl::tracking::ApproxNearestPairPointCloudCoherence< PointInT >::PointCloudInConstPtr = typename NearestPairPointCloudCoherence<PointInT>::PointCloudInConstPtr |
Definition at line 19 of file approx_nearest_pair_point_cloud_coherence.h.
using pcl::tracking::ApproxNearestPairPointCloudCoherence< PointInT >::PointCoherencePtr = typename NearestPairPointCloudCoherence<PointInT>::PointCoherencePtr |
Definition at line 17 of file approx_nearest_pair_point_cloud_coherence.h.
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inline |
empty constructor
Definition at line 30 of file approx_nearest_pair_point_cloud_coherence.h.
References pcl::tracking::PointCloudCoherence< PointInT >::coherence_name_.
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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.
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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.
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protected |
Definition at line 51 of file approx_nearest_pair_point_cloud_coherence.h.