16 for (std::size_t i = 0; i < cloud->size(); i++) {
17 PointInT input_point = (*cloud)[i];
19 std::vector<float> k_distances(1);
20 search_->nearestKSearch(input_point, 1, k_indices, k_distances);
21 int k_index = k_indices[0];
22 float k_distance = k_distances[0];
23 if (k_distance < maximum_distance_ * maximum_distance_) {
26 PointInT target_point = (*target_input_)[k_index];
27 double coherence_val = 1.0;
28 for (std::size_t i = 0; i < point_coherences_.size(); i++) {
30 double w = coherence->compute(input_point, target_point);
36 w = -
static_cast<float>(val);