Point Cloud Library (PCL)  1.11.1
approx_nearest_pair_point_cloud_coherence.h
1 #pragma once
2 
3 #include <pcl/search/octree.h>
4 #include <pcl/search/search.h>
5 #include <pcl/tracking/nearest_pair_point_cloud_coherence.h>
6 
7 namespace pcl {
8 namespace tracking {
9 /** \brief @b ApproxNearestPairPointCloudCoherence computes coherence between
10  * two pointclouds using the approximate nearest point pairs.
11  * \author Ryohei Ueda
12  * \ingroup tracking
13  */
14 template <typename PointInT>
16 : public NearestPairPointCloudCoherence<PointInT> {
17 public:
22  // using NearestPairPointCloudCoherence<PointInT>::search_;
29 
30  /** \brief empty constructor */
33  {
34  coherence_name_ = "ApproxNearestPairPointCloudCoherence";
35  }
36 
37 protected:
38  /** \brief This method should get called before starting the actual
39  * computation.
40  */
41  bool
42  initCompute() override;
43 
44  /** \brief compute the nearest pairs and compute coherence using
45  * point_coherences_
46  */
47  void
49  const IndicesConstPtr& indices,
50  float& w_j) override;
51 
53 };
54 } // namespace tracking
55 } // namespace pcl
56 
57 #ifdef PCL_NO_PRECOMPILE
58 #include <pcl/tracking/impl/approx_nearest_pair_point_cloud_coherence.hpp>
59 #endif
shared_ptr< pcl::search::Octree< PointT, LeafTWrap, BranchTWrap, OctreeT > > Ptr
Definition: octree.h:72
ApproxNearestPairPointCloudCoherence computes coherence between two pointclouds using the approximate...
bool initCompute() override
This method should get called before starting the actual computation.
typename NearestPairPointCloudCoherence< PointInT >::PointCloudInConstPtr PointCloudInConstPtr
void computeCoherence(const PointCloudInConstPtr &cloud, const IndicesConstPtr &indices, float &w_j) override
compute the nearest pairs and compute coherence using point_coherences_
typename NearestPairPointCloudCoherence< PointInT >::PointCoherencePtr PointCoherencePtr
NearestPairPointCloudCoherence computes coherence between two pointclouds using the nearest point pai...
typename PointCloudCoherence< PointInT >::PointCloudInConstPtr PointCloudInConstPtr
typename PointCloudCoherence< PointInT >::PointCoherencePtr PointCoherencePtr
std::string coherence_name_
The coherence name.
Definition: coherence.h:138
shared_ptr< const Indices > IndicesConstPtr
Definition: pcl_base.h:62