Point Cloud Library (PCL) 1.13.1
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normal_coherence.hpp
1#ifndef PCL_TRACKING_IMPL_NORMAL_COHERENCE_H_
2#define PCL_TRACKING_IMPL_NORMAL_COHERENCE_H_
3
4#include <pcl/common/common.h>
5#include <pcl/console/print.h>
6#include <pcl/tracking/normal_coherence.h>
7
8namespace pcl {
9namespace tracking {
10template <typename PointInT>
11double
12NormalCoherence<PointInT>::computeCoherence(PointInT& source, PointInT& target)
13{
14 Eigen::Vector4f n = source.getNormalVector4fMap();
15 Eigen::Vector4f n_dash = target.getNormalVector4fMap();
16 if (n.norm() <= 1e-5 || n_dash.norm() <= 1e-5) {
17 PCL_ERROR_STREAM("[NormalCoherence::computeCoherence] normal of source and/or "
18 "target is zero! source: "
19 << source << "target: " << target << std::endl);
20 return 0.0;
21 }
22 n.normalize();
23 n_dash.normalize();
24 double theta = pcl::getAngle3D(n, n_dash);
25 if (!std::isnan(theta))
26 return 1.0 / (1.0 + weight_ * theta * theta);
27 return 0.0;
28}
29} // namespace tracking
30} // namespace pcl
31
32#define PCL_INSTANTIATE_NormalCoherence(T) \
33 template class PCL_EXPORTS pcl::tracking::NormalCoherence<T>;
34
35#endif
double computeCoherence(PointInT &source, PointInT &target) override
return the normal coherence between the two points.
Define standard C methods and C++ classes that are common to all methods.
double getAngle3D(const Eigen::Vector4f &v1, const Eigen::Vector4f &v2, const bool in_degree=false)
Compute the smallest angle between two 3D vectors in radians (default) or degree.
Definition common.hpp:47