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
using	PointCloudInConstPtr
Public Types inherited from pcl::tracking::NearestPairPointCloudCoherence< PointInT >
using	PointCoherencePtr = typename PointCloudCoherence<PointInT>::PointCoherencePtr
using	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
Public Member Functions inherited from pcl::tracking::NearestPairPointCloudCoherence< PointInT >
	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.
Public Member Functions inherited from pcl::tracking::PointCloudCoherence< PointInT >
	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_
Protected Member Functions inherited from pcl::tracking::NearestPairPointCloudCoherence< PointInT >
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_
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.

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.
SearchPtr	search_ {nullptr}
	A pointer to the spatial search object.
double	maximum_distance_ {std::numeric_limits<double>::max()}
	max of distance for points to be taken into account
Protected Attributes inherited from pcl::tracking::PointCloudCoherence< PointInT >
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.

Detailed Description

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

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

Member Typedef Documentation

template<typename PointInT>

Initial value:

typename PointCloudCoherence< PointInT >::PointCloudInConstPtr PointCloudInConstPtr

Definition nearest_pair_point_cloud_coherence.h:22

template<typename PointInT>

Initial value:

typename PointCloudCoherence< PointInT >::PointCoherencePtr PointCoherencePtr

Definition nearest_pair_point_cloud_coherence.h:21

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 )