Point Cloud Library (PCL)  1.11.0
distance_coherence.h
1 #pragma once
2 
3 #include <pcl/memory.h>
4 #include <pcl/tracking/coherence.h>
5 
6 
7 namespace pcl
8 {
9  namespace tracking
10  {
11  /** \brief @b DistanceCoherence computes coherence between two points from the distance
12  between them. the coherence is calculated by 1 / (1 + weight * d^2 ).
13  * \author Ryohei Ueda
14  * \ingroup tracking
15  */
16  template <typename PointInT>
17  class DistanceCoherence: public PointCoherence<PointInT>
18  {
19  public:
20 
21  using Ptr = shared_ptr<DistanceCoherence<PointInT> >;
22  using ConstPtr = shared_ptr<const DistanceCoherence<PointInT>>;
23 
24  /** \brief initialize the weight to 1.0. */
26  : PointCoherence<PointInT> ()
27  , weight_ (1.0)
28  {}
29 
30  /** \brief set the weight of coherence.
31  * \param weight the value of the wehgit.
32  */
33  inline void setWeight (double weight) { weight_ = weight; }
34 
35  /** \brief get the weight of coherence.*/
36  inline double getWeight () { return weight_; }
37 
38  protected:
39 
40  /** \brief return the distance coherence between the two points.
41  * \param source instance of source point.
42  * \param target instance of target point.
43  */
44  double computeCoherence (PointInT &source, PointInT &target) override;
45 
46  /** \brief the weight of coherence.*/
47  double weight_;
48  };
49  }
50 }
51 
52 #ifdef PCL_NO_PRECOMPILE
53 #include <pcl/tracking/impl/distance_coherence.hpp>
54 #endif
double getWeight()
get the weight of coherence.
void setWeight(double weight)
set the weight of coherence.
DistanceCoherence()
initialize the weight to 1.0.
shared_ptr< PointCoherence< PointInT > > Ptr
Definition: coherence.h:19
shared_ptr< const PointCoherence< PointInT > > ConstPtr
Definition: coherence.h:20
double computeCoherence(PointInT &source, PointInT &target) override
return the distance coherence between the two points.
PointCoherence is a base class to compute coherence between the two points.
Definition: coherence.h:16
double weight_
the weight of coherence.
DistanceCoherence computes coherence between two points from the distance between them...