coherence.h
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00001 #ifndef PCL_TRACKING_COHERENCE_H_
00002 #define PCL_TRACKING_COHERENCE_H_
00003 
00004 #include <pcl/pcl_base.h>
00005 
00006 namespace pcl
00007 {
00008 
00009   namespace tracking
00010   {
00011 
00016     template <typename PointInT>
00017     class PointCoherence
00018     {
00019     public:
00020       typedef boost::shared_ptr< PointCoherence<PointInT> > Ptr;
00021       typedef boost::shared_ptr< const PointCoherence<PointInT> > ConstPtr;
00022       
00023     public:
00025       PointCoherence () : coherence_name_ () {}
00026       
00028       virtual ~PointCoherence () {}
00029 
00034       inline double
00035       compute (PointInT &source, PointInT &target);
00036 
00037     protected:
00038 
00040       std::string coherence_name_;
00041 
00046       virtual double 
00047       computeCoherence (PointInT &source, PointInT &target) = 0;
00048 
00050       inline const std::string& 
00051       getClassName () const { return (coherence_name_); }
00052 
00053     };
00054 
00059     template <typename PointInT>
00060     class PointCloudCoherence
00061     {
00062     public:
00063       typedef boost::shared_ptr< PointCloudCoherence<PointInT> > Ptr;
00064       typedef boost::shared_ptr< const PointCloudCoherence<PointInT> > ConstPtr;
00065 
00066       typedef pcl::PointCloud<PointInT> PointCloudIn;
00067       typedef typename PointCloudIn::Ptr PointCloudInPtr;
00068       typedef typename PointCloudIn::ConstPtr PointCloudInConstPtr;
00069       
00070       typedef typename PointCoherence<PointInT>::Ptr PointCoherencePtr;
00072       PointCloudCoherence () : coherence_name_ (), target_input_ (), point_coherences_ () {}
00073 
00075       virtual ~PointCloudCoherence () {}
00076 
00078       inline void
00079       compute (const PointCloudInConstPtr &cloud, const IndicesConstPtr &indices,
00080                float &w_i);
00081 
00083       inline std::vector<PointCoherencePtr>
00084       getPointCoherences () { return point_coherences_; }
00085 
00089       inline void
00090       setPointCoherences (std::vector<PointCoherencePtr> coherences) { point_coherences_ = coherences; }
00091 
00093       virtual bool initCompute ();
00094       
00098       inline void
00099       addPointCoherence (PointCoherencePtr coherence) { point_coherences_.push_back (coherence); }
00100 
00104       virtual inline void
00105       setTargetCloud (const PointCloudInConstPtr &cloud)  { target_input_ = cloud; }
00106       
00107     protected:
00109       virtual void
00110       computeCoherence (const PointCloudInConstPtr &cloud, const IndicesConstPtr &indices, float &w_j) = 0;
00111       
00112       inline double calcPointCoherence (PointInT &source, PointInT &target);
00113       
00115       inline const std::string& 
00116       getClassName () const { return (coherence_name_); }
00117       
00118       
00120       std::string coherence_name_;
00121 
00123       PointCloudInConstPtr target_input_;
00124 
00126       std::vector<PointCoherencePtr> point_coherences_;
00127     };
00128     
00129   }
00130 }
00131 
00132 
00133 #include <pcl/tracking/impl/coherence.hpp>
00134 
00135 
00136 #endif


pcl
Author(s): Open Perception
autogenerated on Wed Aug 26 2015 15:22:47