pcl::tracking::NormalCoherence< PointInT > Class Template Reference

NormalCoherence computes coherence between two points from the angle between their normals. More...

#include <pcl/tracking/normal_coherence.h>

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

Collaboration diagram for pcl::tracking::NormalCoherence< PointInT >:

Public Member Functions
	NormalCoherence ()
	initialize the weight to 1.0.
void	setWeight (double weight)
	set the weight of coherence
double	getWeight ()
	get the weight of coherence
Public Member Functions inherited from pcl::tracking::PointCoherence< PointInT >
	PointCoherence ()=default
	empty constructor
virtual	~PointCoherence ()=default
	empty destructor
double	compute (PointInT &source, PointInT &target)
	compute coherence from the source point to the target point.

Protected Member Functions
double	computeCoherence (PointInT &source, PointInT &target) override
	return the normal coherence between the two points.
Protected Member Functions inherited from pcl::tracking::PointCoherence< PointInT >
const std::string &	getClassName () const
	Get a string representation of the name of this class.

Protected Attributes
double	weight_ {1.0}
	the weight of coherence
Protected Attributes inherited from pcl::tracking::PointCoherence< PointInT >
std::string	coherence_name_
	The coherence name.

Additional Inherited Members
Public Types inherited from pcl::tracking::PointCoherence< PointInT >
using	Ptr = shared_ptr<PointCoherence<PointInT>>
using	ConstPtr = shared_ptr<const PointCoherence<PointInT>>

Detailed Description

template<typename PointInT>
class pcl::tracking::NormalCoherence< PointInT >

NormalCoherence computes coherence between two points from the angle between their normals.

the coherence is calculated by 1 / (1 + weight * theta^2 ).

Author

Ryohei Ueda

Definition at line 13 of file normal_coherence.h.

Constructor & Destructor Documentation

NormalCoherence()

template<typename PointInT>

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

inline

initialize the weight to 1.0.

Definition at line 16 of file normal_coherence.h.

References pcl::tracking::PointCoherence< PointInT >::PointCoherence().

Member Function Documentation

computeCoherence()

template<typename PointInT>

double pcl::tracking::NormalCoherence< PointInT >::computeCoherence ( PointInT & source, PointInT & target )

overrideprotectedvirtual

return the normal coherence between the two points.

Parameters

source	instance of source point.
target	instance of target point.

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

Definition at line 12 of file normal_coherence.hpp.

References pcl::getAngle3D(), and weight_.

getWeight()

template<typename PointInT>

double pcl::tracking::NormalCoherence< PointInT >::getWeight ( )

inline

get the weight of coherence

Definition at line 29 of file normal_coherence.h.

References weight_.

setWeight()

template<typename PointInT>

void pcl::tracking::NormalCoherence< PointInT >::setWeight ( double weight )

inline

set the weight of coherence

Parameters

weight

the weight of coherence

Definition at line 22 of file normal_coherence.h.

References weight_.

Member Data Documentation

weight_

template<typename PointInT>

double pcl::tracking::NormalCoherence< PointInT >::weight_ {1.0}

protected

the weight of coherence

Definition at line 43 of file normal_coherence.h.

Referenced by computeCoherence(), getWeight(), and setWeight().

---

The documentation for this class was generated from the following files:

• pcl/tracking/normal_coherence.h
• pcl/tracking/impl/normal_coherence.hpp