Point Cloud Library (PCL)  1.9.1-dev
List of all members | Public Types | Public Member Functions | Protected Member Functions | Protected Attributes
pcl::tracking::NearestPairPointCloudCoherence< PointInT > Class Template Reference

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< PointCoherencePtrgetPointCoherences ()
 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< PointCoherencePtrpoint_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.

Definition at line 25 of file nearest_pair_point_cloud_coherence.h.

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

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]valmaximum 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
searcha 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)
inlinevirtual

Member Data Documentation

template<typename PointInT>
double pcl::tracking::NearestPairPointCloudCoherence< PointInT >::maximum_distance_
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().

template<typename PointInT>
bool pcl::tracking::NearestPairPointCloudCoherence< PointInT >::new_target_
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().

template<typename PointInT>
SearchPtr pcl::tracking::NearestPairPointCloudCoherence< PointInT >::search_
protected

The documentation for this class was generated from the following files: