Point Cloud Library (PCL)
1.9.1-dev
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NearestPairPointCloudCoherence computes coherence between two pointclouds using the nearest point pairs. More...
#include <pcl/tracking/nearest_pair_point_cloud_coherence.h>
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 |
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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... | |
void | setTargetCloud (const PointCloudInConstPtr &cloud) override |
add a PointCoherence to the PointCloudCoherence. More... | |
void | setMaximumDistance (double val) |
set maximum distance to be taken into account. More... | |
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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 | |
bool | initCompute () override |
This method should get called before starting the actual computation. More... | |
void | computeCoherence (const PointCloudInConstPtr &cloud, const IndicesConstPtr &indices, float &w_j) override |
compute the nearest pairs and compute coherence using point_coherences_ More... | |
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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... | |
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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... | |
NearestPairPointCloudCoherence computes coherence between two pointclouds using the nearest point pairs.
Definition at line 17 of file nearest_pair_point_cloud_coherence.h.
typedef PointCloudCoherence<PointInT> pcl::tracking::NearestPairPointCloudCoherence< PointInT >::BaseClass |
Definition at line 26 of file nearest_pair_point_cloud_coherence.h.
typedef boost::shared_ptr<const NearestPairPointCloudCoherence<PointInT> > pcl::tracking::NearestPairPointCloudCoherence< PointInT >::ConstPtr |
Definition at line 29 of file nearest_pair_point_cloud_coherence.h.
typedef PointCloudCoherence<PointInT>::PointCloudInConstPtr pcl::tracking::NearestPairPointCloudCoherence< PointInT >::PointCloudInConstPtr |
Definition at line 25 of file nearest_pair_point_cloud_coherence.h.
typedef PointCloudCoherence<PointInT>::PointCoherencePtr pcl::tracking::NearestPairPointCloudCoherence< PointInT >::PointCoherencePtr |
Definition at line 24 of file nearest_pair_point_cloud_coherence.h.
typedef boost::shared_ptr<NearestPairPointCloudCoherence<PointInT> > pcl::tracking::NearestPairPointCloudCoherence< PointInT >::Ptr |
Definition at line 28 of file nearest_pair_point_cloud_coherence.h.
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.
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.
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inline |
empty constructor
Definition at line 34 of file nearest_pair_point_cloud_coherence.h.
References pcl::tracking::PointCloudCoherence< PointInT >::coherence_name_.
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overrideprotectedvirtual |
compute the nearest pairs and compute coherence using point_coherences_
Implements pcl::tracking::PointCloudCoherence< PointInT >.
Definition at line 13 of file nearest_pair_point_cloud_coherence.hpp.
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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_.
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overrideprotectedvirtual |
This method should get called before starting the actual computation.
Reimplemented from pcl::tracking::PointCloudCoherence< PointInT >.
Definition at line 45 of file nearest_pair_point_cloud_coherence.hpp.
Referenced by pcl::tracking::NearestPairPointCloudCoherence< PointInT >::setMaximumDistance().
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inline |
set maximum distance to be taken into account.
[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_.
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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.
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_.
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inlineoverridevirtual |
add a PointCoherence to the PointCloudCoherence.
[in] | cloud | coherence a pointer to PointCoherence. |
Reimplemented from pcl::tracking::PointCloudCoherence< PointInT >.
Definition at line 60 of file nearest_pair_point_cloud_coherence.h.
References pcl::tracking::NearestPairPointCloudCoherence< PointInT >::new_target_, and pcl::tracking::PointCloudCoherence< PointInT >::setTargetCloud().
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protected |
max of distance for points to be taken into account
Definition at line 84 of file nearest_pair_point_cloud_coherence.h.
Referenced by pcl::tracking::NearestPairPointCloudCoherence< PointInT >::setMaximumDistance().
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protected |
A flag which is true if target_input_ is updated.
Definition at line 78 of file nearest_pair_point_cloud_coherence.h.
Referenced by pcl::tracking::NearestPairPointCloudCoherence< PointInT >::setTargetCloud().
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protected |
A pointer to the spatial search object.
Definition at line 81 of file nearest_pair_point_cloud_coherence.h.
Referenced by pcl::tracking::NearestPairPointCloudCoherence< PointInT >::getSearchMethod(), and pcl::tracking::NearestPairPointCloudCoherence< PointInT >::setSearchMethod().