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

NormalCoherence computes coherence between two points from the angle between their normals. More...

#include <pcl/tracking/normal_coherence.h>

+ Inheritance diagram for pcl::tracking::NormalCoherence< PointInT >:

Public Member Functions

 NormalCoherence ()
 initialize the weight to 1.0. More...
 
void setWeight (double weight)
 set the weight of coherence More...
 
double getWeight ()
 get the weight of coherence More...
 
- Public Member Functions inherited from pcl::tracking::PointCoherence< PointInT >
 PointCoherence ()
 empty constructor More...
 
virtual ~PointCoherence ()
 empty distructor More...
 
double compute (PointInT &source, PointInT &target)
 compute coherence from the source point to the target point. More...
 

Protected Member Functions

double computeCoherence (PointInT &source, PointInT &target)
 return the normal coherence between the two points. More...
 
- Protected Member Functions inherited from pcl::tracking::PointCoherence< PointInT >
const std::string & getClassName () const
 Get a string representation of the name of this class. More...
 

Protected Attributes

double weight_
 the weight of coherence More...
 
- Protected Attributes inherited from pcl::tracking::PointCoherence< PointInT >
std::string coherence_name_
 The coherence name. More...
 

Additional Inherited Members

- Public Types inherited from pcl::tracking::PointCoherence< PointInT >
typedef boost::shared_ptr< PointCoherence< PointInT > > Ptr
 
typedef boost::shared_ptr< const PointCoherence< PointInT > > ConstPtr
 

Detailed Description

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

NormalCoherence computes coherence between two points from the angle between their normals.

the coherence is calculated by 1 / (1 + weight * theta^2 ).

Author
Ryohei Ueda

Definition at line 14 of file normal_coherence.h.

Constructor & Destructor Documentation

template<typename PointInT >
pcl::tracking::NormalCoherence< PointInT >::NormalCoherence ( )
inline

initialize the weight to 1.0.

Definition at line 19 of file normal_coherence.h.

Member Function Documentation

template<typename PointInT >
double pcl::tracking::NormalCoherence< PointInT >::computeCoherence ( PointInT &  source,
PointInT &  target 
)
protectedvirtual

return the normal coherence between the two points.

Parameters
sourceinstance of source point.
targetinstance of target point.

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

Definition at line 9 of file normal_coherence.hpp.

References pcl::getAngle3D().

Referenced by pcl::tracking::NormalCoherence< PointInT >::getWeight().

template<typename PointInT >
double pcl::tracking::NormalCoherence< PointInT >::getWeight ( )
inline
template<typename PointInT >
void pcl::tracking::NormalCoherence< PointInT >::setWeight ( double  weight)
inline

set the weight of coherence

Parameters
weightthe weight of coherence

Definition at line 27 of file normal_coherence.h.

References pcl::tracking::NormalCoherence< PointInT >::weight_.

Member Data Documentation

template<typename PointInT >
double pcl::tracking::NormalCoherence< PointInT >::weight_
protected

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