distance_coherence.hpp
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00001 #ifndef PCL_TRACKING_IMPL_DISTANCE_COHERENCE_H_
00002 #define PCL_TRACKING_IMPL_DISTANCE_COHERENCE_H_
00003 
00004 #include <Eigen/Dense>
00005 
00006 namespace pcl
00007 {
00008   namespace tracking
00009   {
00010     template <typename PointInT> double
00011     DistanceCoherence<PointInT>::computeCoherence (PointInT &source, PointInT &target)
00012     {
00013        Eigen::Vector4f p = source.getVector4fMap ();
00014        Eigen::Vector4f p_dash = target.getVector4fMap ();
00015        double d = (p - p_dash).norm ();
00016        return 1.0 / (1.0 + d * d * weight_);
00017     }
00018   }
00019 }
00020 
00021 #define PCL_INSTANTIATE_DistanceCoherence(T) template class PCL_EXPORTS pcl::tracking::DistanceCoherence<T>;
00022 
00023 #endif


pcl
Author(s): Open Perception
autogenerated on Mon Oct 6 2014 03:14:48