tracker.hpp

#ifndef PCL_TRACKING_IMPL_TRACKER_H_
#define PCL_TRACKING_IMPL_TRACKER_H_
 
#include <pcl/tracking/tracker.h>
 
namespace pcl {
namespace tracking {
template <typename PointInT, typename StateT>
bool
Tracker<PointInT, StateT>::initCompute()
{
  if (!PCLBase<PointInT>::initCompute()) {
    PCL_ERROR("[pcl::%s::initCompute] PCLBase::Init failed.\n", getClassName().c_str());
    return (false);
  }
 
  // If the dataset is empty, just return
  if (input_->points.empty()) {
    PCL_ERROR("[pcl::%s::compute] input_ is empty!\n", getClassName().c_str());
    // Cleanup
    deinitCompute();
    return (false);
  }
 
  return (true);
}
 
template <typename PointInT, typename StateT>
void
Tracker<PointInT, StateT>::compute()
{
  if (!initCompute())
    return;
 
  computeTracking();
  deinitCompute();
}
} // namespace tracking
} // namespace pcl
 
#endif