NearestPairPointCloudCoherence computes coherence between two pointclouds using the nearest point pairs. More...

#include <nearest_pair_point_cloud_coherence.h>

Inheritance diagram for pcl::tracking::NearestPairPointCloudCoherence< PointInT >:

Public Types
typedef PointCloudCoherence < PointInT >	BaseClass
typedef boost::shared_ptr < const NearestPairPointCloudCoherence < PointInT > >	ConstPtr
typedef PointCloudCoherence < PointInT > ::PointCloudInConstPtr	PointCloudInConstPtr
typedef PointCloudCoherence < PointInT > ::PointCoherencePtr	PointCoherencePtr
typedef boost::shared_ptr < NearestPairPointCloudCoherence < PointInT > >	Ptr
typedef boost::shared_ptr < const pcl::search::Search < PointInT > >	SearchConstPtr
typedef boost::shared_ptr < pcl::search::Search < PointInT > >	SearchPtr
Public Member Functions
SearchPtr	getSearchMethod ()
	Get a pointer to the point cloud dataset.
	NearestPairPointCloudCoherence ()
	empty constructor
void	setMaximumDistance (double val)
	set maximum distance to be taken into account.
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. 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.
virtual void	setTargetCloud (const PointCloudInConstPtr &cloud)
	add a PointCoherence to the PointCloudCoherence.
Protected Member Functions
virtual void	computeCoherence (const PointCloudInConstPtr &cloud, const IndicesConstPtr &indices, float &w_j)
	compute the nearest pairs and compute coherence using point_coherences_
virtual bool	initCompute ()
	This method should get called before starting the actual computation.
Protected Attributes
double	maximum_distance_
	max of distance for points to be taken into account
bool	new_target_
	A flag which is true if target_input_ is updated.
SearchPtr	search_
	A pointer to the spatial search object.

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 18 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 27 of file nearest_pair_point_cloud_coherence.h.

template<typename PointInT>

typedef boost::shared_ptr<const NearestPairPointCloudCoherence<PointInT> > pcl::tracking::NearestPairPointCloudCoherence< PointInT >::ConstPtr

Reimplemented from pcl::tracking::PointCloudCoherence< PointInT >.

Definition at line 30 of file nearest_pair_point_cloud_coherence.h.

template<typename PointInT>

typedef PointCloudCoherence<PointInT>::PointCloudInConstPtr pcl::tracking::NearestPairPointCloudCoherence< PointInT >::PointCloudInConstPtr

Reimplemented from pcl::tracking::PointCloudCoherence< PointInT >.

Reimplemented in pcl::tracking::ApproxNearestPairPointCloudCoherence< PointInT >.

Definition at line 26 of file nearest_pair_point_cloud_coherence.h.

template<typename PointInT>

typedef PointCloudCoherence<PointInT>::PointCoherencePtr pcl::tracking::NearestPairPointCloudCoherence< PointInT >::PointCoherencePtr

Reimplemented from pcl::tracking::PointCloudCoherence< PointInT >.

Reimplemented in pcl::tracking::ApproxNearestPairPointCloudCoherence< PointInT >.

Definition at line 25 of file nearest_pair_point_cloud_coherence.h.

template<typename PointInT>

typedef boost::shared_ptr<NearestPairPointCloudCoherence<PointInT> > pcl::tracking::NearestPairPointCloudCoherence< PointInT >::Ptr

Reimplemented from pcl::tracking::PointCloudCoherence< PointInT >.

Definition at line 29 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 32 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 31 of file nearest_pair_point_cloud_coherence.h.

Constructor & Destructor Documentation

template<typename PointInT>

pcl::tracking::NearestPairPointCloudCoherence< PointInT >::NearestPairPointCloudCoherence ( ) [inline]

empty constructor

Definition at line 35 of file nearest_pair_point_cloud_coherence.h.

Member Function Documentation

template<typename PointInT >

void pcl::tracking::NearestPairPointCloudCoherence< PointInT >::computeCoherence	(	const PointCloudInConstPtr &	cloud,
		const IndicesConstPtr &	indices,
		float &	w_j
	)		`[protected, virtual]`

compute the nearest pairs and compute coherence using point_coherences_

Reimplemented in pcl::tracking::ApproxNearestPairPointCloudCoherence< PointInT >.

Definition at line 12 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 55 of file nearest_pair_point_cloud_coherence.h.

template<typename PointInT >

bool pcl::tracking::NearestPairPointCloudCoherence< PointInT >::initCompute ( ) [protected, virtual]

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 44 of file nearest_pair_point_cloud_coherence.hpp.

template<typename PointInT>

void pcl::tracking::NearestPairPointCloudCoherence< PointInT >::setMaximumDistance ( double val ) [inline]

set maximum distance to be taken into account.

Parameters:

maximum distance.

Definition at line 70 of file nearest_pair_point_cloud_coherence.h.

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:

cloud a pointer to a PointCloud message

Definition at line 51 of file nearest_pair_point_cloud_coherence.h.

template<typename PointInT>

virtual void pcl::tracking::NearestPairPointCloudCoherence< PointInT >::setTargetCloud ( const PointCloudInConstPtr & cloud ) [inline, virtual]