3 #include <pcl/search/search.h> 4 #include <pcl/tracking/coherence.h> 13 template <
typename Po
intInT>
25 using Ptr = shared_ptr<NearestPairPointCloudCoherence<PointInT>>;
26 using ConstPtr = shared_ptr<const NearestPairPointCloudCoherence<PointInT>>;
104 #ifdef PCL_NO_PRECOMPILE 105 #include <pcl/tracking/impl/nearest_pair_point_cloud_coherence.hpp> bool new_target_
A flag which is true if target_input_ is updated.
SearchPtr search_
A pointer to the spatial search object.
NearestPairPointCloudCoherence computes coherence between two pointclouds using the nearest point pai...
double maximum_distance_
max of distance for points to be taken into account
void computeCoherence(const PointCloudInConstPtr &cloud, const IndicesConstPtr &indices, float &w_j) override
compute the nearest pairs and compute coherence using point_coherences_
shared_ptr< const pcl::search::Search< PointT > > ConstPtr
shared_ptr< const Indices > IndicesConstPtr
std::string coherence_name_
The coherence name.
typename pcl::search::Search< PointInT >::Ptr SearchPtr
typename PointCoherence< PointInT >::Ptr PointCoherencePtr
typename pcl::search::Search< PointInT >::ConstPtr SearchConstPtr
bool initCompute() override
This method should get called before starting the actual computation.
shared_ptr< PointCloudCoherence< PointInT > > Ptr
PointCloudCoherence is a base class to compute coherence between the two PointClouds.
virtual void setTargetCloud(const PointCloudInConstPtr &cloud)
add a PointCoherence to the PointCloudCoherence.
typename PointCloudIn::ConstPtr PointCloudInConstPtr
void setTargetCloud(const PointCloudInConstPtr &cloud) override
add a PointCoherence to the PointCloudCoherence.
shared_ptr< pcl::search::Search< PointT > > Ptr
void setMaximumDistance(double val)
set maximum distance to be taken into account.
void setSearchMethod(const SearchPtr &search)
Provide a pointer to a dataset to add additional information to estimate the features for every point...
NearestPairPointCloudCoherence()
empty constructor
SearchPtr getSearchMethod()
Get a pointer to the point cloud dataset.
shared_ptr< const PointCloudCoherence< PointInT > > ConstPtr