NearestPairPointCloudCoherence computes coherence between two pointclouds using the nearest point pairs. More...

#include <pcl/tracking/nearest_pair_point_cloud_coherence.h>

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

Public Types
typedef PointCloudCoherence< PointInT >::PointCoherencePtr	PointCoherencePtr

typedef PointCloudCoherence< PointInT >::PointCloudInConstPtr	PointCloudInConstPtr

typedef PointCloudCoherence< PointInT >	BaseClass

typedef boost::shared_ptr< NearestPairPointCloudCoherence< PointInT > >	Ptr

typedef boost::shared_ptr< const NearestPairPointCloudCoherence< PointInT > >	ConstPtr

typedef boost::shared_ptr< pcl::search::Search< PointInT > >	SearchPtr

typedef boost::shared_ptr< const pcl::search::Search< PointInT > >	SearchConstPtr

Public Types inherited from pcl::tracking::PointCloudCoherence< PointInT >
typedef boost::shared_ptr< PointCloudCoherence< PointInT > >	Ptr

typedef boost::shared_ptr< const PointCloudCoherence< PointInT > >	ConstPtr

typedef pcl::PointCloud< PointInT >	PointCloudIn

typedef PointCloudIn::Ptr	PointCloudInPtr

typedef PointCloudIn::ConstPtr	PointCloudInConstPtr

typedef PointCoherence< PointInT >::Ptr	PointCoherencePtr

Public Member Functions
	NearestPairPointCloudCoherence ()
	empty constructor More...

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. More...

SearchPtr	getSearchMethod ()
	Get a pointer to the point cloud dataset. More...

virtual void	setTargetCloud (const PointCloudInConstPtr &cloud)
	add a PointCoherence to the PointCloudCoherence. More...

void	setMaximumDistance (double val)
	set maximum distance to be taken into account. More...

Public Member Functions inherited from pcl::tracking::PointCloudCoherence< PointInT >
	PointCloudCoherence ()
	Constructor. More...

virtual	~PointCloudCoherence ()
	Destructor. More...

void	compute (const PointCloudInConstPtr &cloud, const IndicesConstPtr &indices, float &w_i)
	compute coherence between two pointclouds. More...

std::vector< PointCoherencePtr >	getPointCoherences ()
	get a list of pcl::tracking::PointCoherence. More...

void	setPointCoherences (std::vector< PointCoherencePtr > coherences)
	set a list of pcl::tracking::PointCoherence. More...

void	addPointCoherence (PointCoherencePtr coherence)
	add a PointCoherence to the PointCloudCoherence. More...

Protected Member Functions
virtual bool	initCompute ()
	This method should get called before starting the actual computation. More...

virtual void	computeCoherence (const PointCloudInConstPtr &cloud, const IndicesConstPtr &indices, float &w_j)
	compute the nearest pairs and compute coherence using point_coherences_ More...

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. More...

Protected Attributes
bool	new_target_
	A flag which is true if target_input_ is updated. More...

SearchPtr	search_
	A pointer to the spatial search object. More...

double	maximum_distance_
	max of distance for points to be taken into account More...

Protected Attributes inherited from pcl::tracking::PointCloudCoherence< PointInT >
std::string	coherence_name_
	The coherence name. More...

PointCloudInConstPtr	target_input_
	a pointer to target point cloud More...

std::vector< PointCoherencePtr >	point_coherences_
	a list of pointers to PointCoherence. More...

Detailed Description

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

NearestPairPointCloudCoherence computes coherence between two pointclouds using the nearest point pairs.

Author: Ryohei Ueda

Definition at line 17 of file nearest_pair_point_cloud_coherence.h.

Member Typedef Documentation

template<typename PointInT>

typedef PointCloudCoherence<PointInT> pcl::tracking::NearestPairPointCloudCoherence< PointInT >::BaseClass

Definition at line 26 of file nearest_pair_point_cloud_coherence.h.

template<typename PointInT>

typedef boost::shared_ptr<const NearestPairPointCloudCoherence<PointInT> > pcl::tracking::NearestPairPointCloudCoherence< PointInT >::ConstPtr

Definition at line 29 of file nearest_pair_point_cloud_coherence.h.

template<typename PointInT>

typedef PointCloudCoherence<PointInT>::PointCloudInConstPtr pcl::tracking::NearestPairPointCloudCoherence< PointInT >::PointCloudInConstPtr

Definition at line 25 of file nearest_pair_point_cloud_coherence.h.

template<typename PointInT>

typedef PointCloudCoherence<PointInT>::PointCoherencePtr pcl::tracking::NearestPairPointCloudCoherence< PointInT >::PointCoherencePtr

Definition at line 24 of file nearest_pair_point_cloud_coherence.h.

template<typename PointInT>

typedef boost::shared_ptr<NearestPairPointCloudCoherence<PointInT> > pcl::tracking::NearestPairPointCloudCoherence< PointInT >::Ptr

Definition at line 28 of file nearest_pair_point_cloud_coherence.h.

template<typename PointInT>

typedef boost::shared_ptr<const pcl::search::Search<PointInT> > pcl::tracking::NearestPairPointCloudCoherence< PointInT >::SearchConstPtr

Definition at line 31 of file nearest_pair_point_cloud_coherence.h.

template<typename PointInT>

typedef boost::shared_ptr<pcl::search::Search<PointInT> > pcl::tracking::NearestPairPointCloudCoherence< PointInT >::SearchPtr

Definition at line 30 of file nearest_pair_point_cloud_coherence.h.

Constructor & Destructor Documentation

template<typename PointInT>

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

inline

empty constructor

Definition at line 34 of file nearest_pair_point_cloud_coherence.h.

References pcl::tracking::PointCloudCoherence< PointInT >::coherence_name_.

Member Function Documentation

template<typename PointInT >

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

protectedvirtual

compute the nearest pairs and compute coherence using point_coherences_

Implements pcl::tracking::PointCloudCoherence< PointInT >.

Reimplemented in pcl::tracking::ApproxNearestPairPointCloudCoherence< PointInT >.

Definition at line 13 of file nearest_pair_point_cloud_coherence.hpp.

template<typename PointInT>

SearchPtr pcl::tracking::NearestPairPointCloudCoherence< PointInT >::getSearchMethod ( )

inline

Get a pointer to the point cloud dataset.

Definition at line 54 of file nearest_pair_point_cloud_coherence.h.

References pcl::tracking::NearestPairPointCloudCoherence< PointInT >::search_.

template<typename PointInT >

bool pcl::tracking::NearestPairPointCloudCoherence< PointInT >::initCompute ( )

protectedvirtual

This method should get called before starting the actual computation.

Reimplemented from pcl::tracking::PointCloudCoherence< PointInT >.

Reimplemented in pcl::tracking::ApproxNearestPairPointCloudCoherence< PointInT >.

Definition at line 45 of file nearest_pair_point_cloud_coherence.hpp.

Referenced by pcl::tracking::NearestPairPointCloudCoherence< PointInT >::setMaximumDistance().

template<typename PointInT>

void pcl::tracking::NearestPairPointCloudCoherence< PointInT >::setMaximumDistance ( double val )

inline

set maximum distance to be taken into account.

Parameters

[in] val maximum distance.

Definition at line 69 of file nearest_pair_point_cloud_coherence.h.

References pcl::tracking::NearestPairPointCloudCoherence< PointInT >::initCompute(), and pcl::tracking::NearestPairPointCloudCoherence< PointInT >::maximum_distance_.

template<typename PointInT>

void pcl::tracking::NearestPairPointCloudCoherence< PointInT >::setSearchMethod ( const SearchPtr & search )

inline

Provide a pointer to a dataset to add additional information to estimate the features for every point in the input dataset.

This is optional, if this is not set, it will only use the data in the input cloud to estimate the features. This is useful when you only need to compute the features for a downsampled cloud.

Parameters

search a pointer to a PointCloud message

Definition at line 50 of file nearest_pair_point_cloud_coherence.h.

References pcl::tracking::NearestPairPointCloudCoherence< PointInT >::search_.

template<typename PointInT>

virtual void pcl::tracking::NearestPairPointCloudCoherence< PointInT >::setTargetCloud ( const PointCloudInConstPtr & cloud )