Go to the documentation of this file.00001 #ifndef PCL_TRACKING_IMPL_NORMAL_COHERENCE_H_
00002 #define PCL_TRACKING_IMPL_NORMAL_COHERENCE_H_
00003
00004 #include <pcl/common/common.h>
00005 #include <pcl/console/print.h>
00006 #include <pcl/tracking/normal_coherence.h>
00007
00008 template <typename PointInT> double
00009 pcl::tracking::NormalCoherence<PointInT>::computeCoherence (PointInT &source, PointInT &target)
00010 {
00011 Eigen::Vector4f n = source.getNormalVector4fMap ();
00012 Eigen::Vector4f n_dash = target.getNormalVector4fMap ();
00013 if ( n.norm () <= 1e-5 || n_dash.norm () <= 1e-5 )
00014 {
00015 PCL_ERROR("norm might be ZERO!\n");
00016 std::cout << "source: " << source << std::endl;
00017 std::cout << "target: " << target << std::endl;
00018 exit (1);
00019 return 0.0;
00020 }
00021 else
00022 {
00023 n.normalize ();
00024 n_dash.normalize ();
00025 double theta = pcl::getAngle3D (n, n_dash);
00026 if (!pcl_isnan (theta))
00027 return 1.0 / (1.0 + weight_ * theta * theta);
00028 else
00029 return 0.0;
00030 }
00031 }
00032
00033
00034 #define PCL_INSTANTIATE_NormalCoherence(T) template class PCL_EXPORTS pcl::tracking::NormalCoherence<T>;
00035
00036 #endif