PointCloudCoherence is a base class to compute coherence between the two PointClouds. More...

#include <pcl/tracking/coherence.h>

Inheritance diagram for pcl::tracking::PointCloudCoherence< PointInT >:

Public Types
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
	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.
virtual bool	initCompute ()
	This method should get called before starting the actual computation.
void	addPointCoherence (PointCoherencePtr coherence)
	add a PointCoherence to the PointCloudCoherence.
virtual void	setTargetCloud (const PointCloudInConstPtr &cloud)
	add a PointCoherence to the PointCloudCoherence.

Protected Member Functions
virtual void	computeCoherence (const PointCloudInConstPtr &cloud, const IndicesConstPtr &indices, float &w_j)=0
	Abstract method to compute coherence.
double	calcPointCoherence (PointInT &source, PointInT &target)
const std::string &	getClassName () const
	Get a string representation of the name of this class.

Protected Attributes
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::PointCloudCoherence< PointInT >

PointCloudCoherence is a base class to compute coherence between the two PointClouds.

Author: Ryohei Ueda

Definition at line 59 of file coherence.h.

Member Typedef Documentation

◆ ConstPtr

template<typename PointInT>

using pcl::tracking::PointCloudCoherence< PointInT >::ConstPtr = shared_ptr<const PointCloudCoherence<PointInT>>

Definition at line 62 of file coherence.h.

◆ PointCloudIn

template<typename PointInT>

using pcl::tracking::PointCloudCoherence< PointInT >::PointCloudIn = pcl::PointCloud<PointInT>

Definition at line 64 of file coherence.h.

◆ PointCloudInConstPtr

template<typename PointInT>

using pcl::tracking::PointCloudCoherence< PointInT >::PointCloudInConstPtr = typename PointCloudIn::ConstPtr

Definition at line 66 of file coherence.h.

◆ PointCloudInPtr

template<typename PointInT>

using pcl::tracking::PointCloudCoherence< PointInT >::PointCloudInPtr = typename PointCloudIn::Ptr

Definition at line 65 of file coherence.h.

◆ PointCoherencePtr

template<typename PointInT>

using pcl::tracking::PointCloudCoherence< PointInT >::PointCoherencePtr = typename PointCoherence<PointInT>::Ptr

Definition at line 68 of file coherence.h.

◆ Ptr

template<typename PointInT>

using pcl::tracking::PointCloudCoherence< PointInT >::Ptr = shared_ptr<PointCloudCoherence<PointInT>>

Definition at line 61 of file coherence.h.

Constructor & Destructor Documentation

◆ PointCloudCoherence()

template<typename PointInT>

pcl::tracking::PointCloudCoherence< PointInT >::PointCloudCoherence ( )

inline

Constructor.

Definition at line 70 of file coherence.h.

References point_coherences_, and target_input_.

◆ ~PointCloudCoherence()

template<typename PointInT>

virtual pcl::tracking::PointCloudCoherence< PointInT >::~PointCloudCoherence ( )

virtualdefault

Destructor.

Member Function Documentation

◆ addPointCoherence()

template<typename PointInT>

void pcl::tracking::PointCloudCoherence< PointInT >::addPointCoherence ( PointCoherencePtr coherence )

inline

add a PointCoherence to the PointCloudCoherence.

Parameters

coherence a pointer to PointCoherence.

Definition at line 106 of file coherence.h.

References point_coherences_.

◆ calcPointCoherence()

template<typename PointInT>

double pcl::tracking::PointCloudCoherence< PointInT >::calcPointCoherence	(	PointInT &	source,
		PointInT &	target )

inlineprotected

Definition at line 19 of file coherence.hpp.

References point_coherences_.

◆ compute()

template<typename PointInT>

void pcl::tracking::PointCloudCoherence< PointInT >::compute	(	const PointCloudInConstPtr &	cloud,
		const IndicesConstPtr &	indices,
		float &	w_i )

inline

compute coherence between two pointclouds.

Definition at line 48 of file coherence.hpp.

References computeCoherence(), getClassName(), and initCompute().

◆ computeCoherence()

template<typename PointInT>

virtual void pcl::tracking::PointCloudCoherence< PointInT >::computeCoherence	(	const PointCloudInConstPtr &	cloud,
		const IndicesConstPtr &	indices,
		float &	w_j )