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) override
	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 >
using	Ptr = boost::shared_ptr< PointCoherence< PointInT > >
using	ConstPtr = boost::shared_ptr< const PointCoherence< PointInT > >

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  )

overrideprotectedvirtual

return the normal coherence between the two points.

Parameters

source	instance of source point.
target	instance 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

get the weight of coherence

Definition at line 30 of file normal_coherence.h.

References pcl::tracking::NormalCoherence< PointInT >::computeCoherence(), and pcl::tracking::NormalCoherence< PointInT >::weight_.

template<typename PointInT >

void pcl::tracking::NormalCoherence< PointInT >::setWeight ( double  weight )

inline

set the weight of coherence

Parameters

weight

the 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 weight of coherence

Definition at line 41 of file normal_coherence.h.

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

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

• pcl/tracking/normal_coherence.h
• pcl/tracking/impl/normal_coherence.hpp