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 ).
Definition at line 14 of file normal_coherence.h.
Constructor & Destructor Documentation
◆ NormalCoherence()
|
inline |
initialize the weight to 1.0.
Definition at line 19 of file normal_coherence.h.
Member Function Documentation
◆ computeCoherence()
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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().
◆ 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_.
◆ setWeight()
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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
◆ 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().
The documentation for this class was generated from the following files:
- pcl/tracking/normal_coherence.h
- pcl/tracking/impl/normal_coherence.hpp