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

#include <pcl/tracking/nearest_pair_point_cloud_coherence.h>

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

Public Types
using	PointCoherencePtr = typename PointCloudCoherence<PointInT>::PointCoherencePtr
using	PointCloudInConstPtr
using	BaseClass = PointCloudCoherence<PointInT>
using	Ptr = shared_ptr<NearestPairPointCloudCoherence<PointInT>>
using	ConstPtr = shared_ptr<const NearestPairPointCloudCoherence<PointInT>>
using	SearchPtr = typename pcl::search::Search<PointInT>::Ptr
using	SearchConstPtr = typename pcl::search::Search<PointInT>::ConstPtr
Public Types inherited from pcl::tracking::PointCloudCoherence< PointInT >
using	Ptr = shared_ptr<PointCloudCoherence<PointInT>>
using	ConstPtr = shared_ptr<const PointCloudCoherence<PointInT>>
using	PointCloudIn = pcl::PointCloud<PointInT>
using	PointCloudInPtr = typename PointCloudIn::Ptr
using	PointCloudInConstPtr = typename PointCloudIn::ConstPtr
using	PointCoherencePtr = typename PointCoherence<PointInT>::Ptr

Public Member Functions
	NearestPairPointCloudCoherence ()
	empty constructor
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.
SearchPtr	getSearchMethod ()
	Get a pointer to the point cloud dataset.
void	setTargetCloud (const PointCloudInConstPtr &cloud) override
	add a PointCoherence to the PointCloudCoherence.
void	setMaximumDistance (double val)
	set maximum distance to be taken into account.
Public Member Functions inherited from pcl::tracking::PointCloudCoherence< PointInT >
	PointCloudCoherence ()
	Constructor.
virtual	~PointCloudCoherence ()=default
	Destructor.
void	compute (const PointCloudInConstPtr &cloud, const IndicesConstPtr &indices, float &w_i)
	compute coherence between two pointclouds.
std::vector< PointCoherencePtr >	getPointCoherences ()
	get a list of pcl::tracking::PointCoherence.
void	setPointCoherences (std::vector< PointCoherencePtr > coherences)
	set a list of pcl::tracking::PointCoherence.
void	addPointCoherence (PointCoherencePtr coherence)
	add a PointCoherence to the PointCloudCoherence.

Protected Member Functions
bool	initCompute () override
	This method should get called before starting the actual computation.
void	computeCoherence (const PointCloudInConstPtr &cloud, const IndicesConstPtr &indices, float &w_j) override
	compute the nearest pairs and compute coherence using point_coherences_
Protected Member Functions inherited from pcl::tracking::PointCloudCoherence< PointInT >
double	calcPointCoherence (PointInT &source, PointInT &target)
const std::string &	getClassName () const
	Get a string representation of the name of this class.

Protected Attributes
bool	new_target_ {false}
	A flag which is true if target_input_ is updated.
SearchPtr	search_ {nullptr}
	A pointer to the spatial search object.
double	maximum_distance_ {std::numeric_limits<double>::max()}
	max of distance for points to be taken into account
Protected Attributes inherited from pcl::tracking::PointCloudCoherence< PointInT >
std::string	coherence_name_
	The coherence name.
PointCloudInConstPtr	target_input_
	a pointer to target point cloud
std::vector< PointCoherencePtr >	point_coherences_
	a list of pointers to PointCoherence.

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 14 of file nearest_pair_point_cloud_coherence.h.

Member Typedef Documentation

◆ BaseClass

template<typename PointInT>

using pcl::tracking::NearestPairPointCloudCoherence< PointInT >::BaseClass = PointCloudCoherence<PointInT>

Definition at line 24 of file nearest_pair_point_cloud_coherence.h.

◆ ConstPtr

template<typename PointInT>

using pcl::tracking::NearestPairPointCloudCoherence< PointInT >::ConstPtr = shared_ptr<const NearestPairPointCloudCoherence<PointInT>>

Definition at line 27 of file nearest_pair_point_cloud_coherence.h.

◆ PointCloudInConstPtr

template<typename PointInT>

using pcl::tracking::NearestPairPointCloudCoherence< PointInT >::PointCloudInConstPtr

Initial value:

typename PointCloudCoherence<PointInT>::PointCloudInConstPtr

pcl::tracking::PointCloudCoherence::PointCloudInConstPtr

typename PointCloudIn::ConstPtr PointCloudInConstPtr

Definition coherence.h:66

Definition at line 22 of file nearest_pair_point_cloud_coherence.h.

◆ PointCoherencePtr

template<typename PointInT>

using pcl::tracking::NearestPairPointCloudCoherence< PointInT >::PointCoherencePtr = typename PointCloudCoherence<PointInT>::PointCoherencePtr

Definition at line 21 of file nearest_pair_point_cloud_coherence.h.

◆ Ptr

template<typename PointInT>

using pcl::tracking::NearestPairPointCloudCoherence< PointInT >::Ptr = shared_ptr<NearestPairPointCloudCoherence<PointInT>>

Definition at line 26 of file nearest_pair_point_cloud_coherence.h.

◆ SearchConstPtr

template<typename PointInT>

using pcl::tracking::NearestPairPointCloudCoherence< PointInT >::SearchConstPtr = typename pcl::search::Search<PointInT>::ConstPtr

Definition at line 29 of file nearest_pair_point_cloud_coherence.h.

◆ SearchPtr

template<typename PointInT>

using pcl::tracking::NearestPairPointCloudCoherence< PointInT >::SearchPtr = typename pcl::search::Search<PointInT>::Ptr

Definition at line 28 of file nearest_pair_point_cloud_coherence.h.

Constructor & Destructor Documentation

◆ NearestPairPointCloudCoherence()

template<typename PointInT>

pcl::tracking::NearestPairPointCloudCoherence< PointInT >::NearestPairPointCloudCoherence ( )

inline

empty constructor

Definition at line 32 of file nearest_pair_point_cloud_coherence.h.

References pcl::tracking::PointCloudCoherence< PointInT >::coherence_name_.

Referenced by pcl::tracking::ApproxNearestPairPointCloudCoherence< PointInT >::ApproxNearestPairPointCloudCoherence().

Member Function Documentation

◆ computeCoherence()

template<typename PointInT>

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

overrideprotectedvirtual

compute the nearest pairs and compute coherence using point_coherences_

Implements pcl::tracking::PointCloudCoherence< PointInT >.

Definition at line 11 of file nearest_pair_point_cloud_coherence.hpp.

References maximum_distance_, pcl::tracking::PointCloudCoherence< PointInT >::point_coherences_, and search_.

◆ getSearchMethod()

template<typename PointInT>

SearchPtr pcl::tracking::NearestPairPointCloudCoherence< PointInT >::getSearchMethod ( )

inline

Get a pointer to the point cloud dataset.

Definition at line 52 of file nearest_pair_point_cloud_coherence.h.

References search_.

◆ initCompute()

template<typename PointInT>

bool pcl::tracking::NearestPairPointCloudCoherence< PointInT >::initCompute ( )

overrideprotectedvirtual

This method should get called before starting the actual computation.

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

Definition at line 41 of file nearest_pair_point_cloud_coherence.hpp.

References pcl::tracking::PointCloudCoherence< PointInT >::getClassName(), pcl::tracking::PointCloudCoherence< PointInT >::initCompute(), new_target_, search_, and pcl::tracking::PointCloudCoherence< PointInT >::target_input_.

◆ setMaximumDistance()

template<typename PointInT>

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

inline

set maximum distance to be taken into account.

Parameters

[in] val maximum distance.

Definition at line 71 of file nearest_pair_point_cloud_coherence.h.

References maximum_distance_.

◆ setSearchMethod()

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

search a pointer to a PointCloud message

Definition at line 45 of file nearest_pair_point_cloud_coherence.h.

References search_.