approx_nearest_pair_point_cloud_coherence.hpp
#ifndef PCL_TRACKING_IMPL_APPROX_NEAREST_PAIR_POINT_CLOUD_COHERENCE_H_
#define PCL_TRACKING_IMPL_APPROX_NEAREST_PAIR_POINT_CLOUD_COHERENCE_H_
#include <pcl/search/octree.h>
#include <pcl/tracking/approx_nearest_pair_point_cloud_coherence.h>
namespace pcl
{
namespace tracking
{
template <typename PointInT> void
ApproxNearestPairPointCloudCoherence<PointInT>::computeCoherence (
const PointCloudInConstPtr &cloud, const IndicesConstPtr &, float &w)
{
double val = 0.0;
//for (size_t i = 0; i < indices->size (); i++)
for (size_t i = 0; i < cloud->points.size (); i++)
{
int k_index = 0;
float k_distance = 0.0;
//PointInT input_point = cloud->points[(*indices)[i]];
PointInT input_point = cloud->points[i];
search_->approxNearestSearch(input_point, k_index, k_distance);
if (k_distance < maximum_distance_ * maximum_distance_)
{
PointInT target_point = target_input_->points[k_index];
double coherence_val = 1.0;
for (size_t i = 0; i < point_coherences_.size (); i++)
{
PointCoherencePtr coherence = point_coherences_[i];
double w = coherence->compute (input_point, target_point);
coherence_val *= w;
}
val += coherence_val;
}
}
w = - static_cast<float> (val);
}
template <typename PointInT> bool
ApproxNearestPairPointCloudCoherence<PointInT>::initCompute ()
{
if (!PointCloudCoherence<PointInT>::initCompute ())
{
PCL_ERROR ("[pcl::%s::initCompute] PointCloudCoherence::Init failed.\n", getClassName ().c_str ());
//deinitCompute ();
return (false);
}
// initialize tree
if (!search_)
search_.reset (new pcl::search::Octree<PointInT> (0.01));
if (new_target_ && target_input_)
{
search_->setInputCloud (target_input_);
new_target_ = false;
}
return true;
}
}
}
#define PCL_INSTANTIATE_ApproxNearestPairPointCloudCoherence(T) template class PCL_EXPORTS pcl::tracking::ApproxNearestPairPointCloudCoherence<T>;
#endif
pcl
Definition: cloud_iterator.h:46
pcl::tracking::ApproxNearestPairPointCloudCoherence::PointCoherencePtr
NearestPairPointCloudCoherence< PointInT >::PointCoherencePtr PointCoherencePtr
Definition: approx_nearest_pair_point_cloud_coherence.h:20
pcl::search::Octree
search::Octree is a wrapper class which implements nearest neighbor search operations based on the pc...
Definition: octree.h:69
pcl::tracking::PointCloudCoherence
PointCloudCoherence is a base class to compute coherence between the two PointClouds.
Definition: coherence.h:60
pcl::IndicesConstPtr
boost::shared_ptr< const std::vector< int > > IndicesConstPtr
Definition: pcl_base.h:61
pcl::tracking::ApproxNearestPairPointCloudCoherence::initCompute
virtual bool initCompute()
This method should get called before starting the actual computation.
Definition: approx_nearest_pair_point_cloud_coherence.hpp:41
pcl::tracking::ApproxNearestPairPointCloudCoherence::computeCoherence
virtual void computeCoherence(const PointCloudInConstPtr &cloud, const IndicesConstPtr &indices, float &w_j)
compute the nearest pairs and compute coherence using point_coherences_
Definition: approx_nearest_pair_point_cloud_coherence.hpp:12
pcl::tracking::ApproxNearestPairPointCloudCoherence::PointCloudInConstPtr
NearestPairPointCloudCoherence< PointInT >::PointCloudInConstPtr PointCloudInConstPtr
Definition: approx_nearest_pair_point_cloud_coherence.h:21