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<div class="title">approx_nearest_pair_point_cloud_coherence.hpp</div> </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="preprocessor">#ifndef PCL_TRACKING_IMPL_APPROX_NEAREST_PAIR_POINT_CLOUD_COHERENCE_H_</span></div>
<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="preprocessor">#define PCL_TRACKING_IMPL_APPROX_NEAREST_PAIR_POINT_CLOUD_COHERENCE_H_</span></div>
<div class="line"><a name="l00003"></a><span class="lineno"> 3</span>  </div>
<div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="preprocessor">#include <pcl/search/octree.h></span></div>
<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="preprocessor">#include <pcl/tracking/approx_nearest_pair_point_cloud_coherence.h></span></div>
<div class="line"><a name="l00006"></a><span class="lineno"> 6</span>  </div>
<div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="keyword">namespace </span><a class="code" href="namespacepcl.html">pcl</a> {</div>
<div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="keyword">namespace </span>tracking {</div>
<div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <span class="keyword">template</span> <<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT></div>
<div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00011"></a><span class="lineno"><a class="line" href="classpcl_1_1tracking_1_1_approx_nearest_pair_point_cloud_coherence.html#ac42f0c4c20e0ca2d8ef2e38bb90283af"> 11</a></span> <a class="code" href="classpcl_1_1tracking_1_1_approx_nearest_pair_point_cloud_coherence.html#ac42f0c4c20e0ca2d8ef2e38bb90283af">ApproxNearestPairPointCloudCoherence<PointInT>::computeCoherence</a>(</div>
<div class="line"><a name="l00012"></a><span class="lineno"> 12</span>  <span class="keyword">const</span> <a class="code" href="classpcl_1_1tracking_1_1_approx_nearest_pair_point_cloud_coherence.html#a9599be385d86568863e7f005e3e09658">PointCloudInConstPtr</a>& cloud, <span class="keyword">const</span> <a class="code" href="namespacepcl.html#a011f84e43d80cb736d9ec9abd0930024">IndicesConstPtr</a>&, <span class="keywordtype">float</span>& w)</div>
<div class="line"><a name="l00013"></a><span class="lineno"> 13</span> {</div>
<div class="line"><a name="l00014"></a><span class="lineno"> 14</span>  <span class="keywordtype">double</span> val = 0.0;</div>
<div class="line"><a name="l00015"></a><span class="lineno"> 15</span>  <span class="comment">// for (std::size_t i = 0; i < indices->size (); i++)</span></div>
<div class="line"><a name="l00016"></a><span class="lineno"> 16</span>  <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span>& point : *cloud) {</div>
<div class="line"><a name="l00017"></a><span class="lineno"> 17</span>  <span class="keywordtype">int</span> k_index = 0;</div>
<div class="line"><a name="l00018"></a><span class="lineno"> 18</span>  <span class="keywordtype">float</span> k_distance = 0.0;</div>
<div class="line"><a name="l00019"></a><span class="lineno"> 19</span>  <span class="comment">// PointInT input_point = cloud->points[(*indices)[i]];</span></div>
<div class="line"><a name="l00020"></a><span class="lineno"> 20</span>  PointInT input_point = point;</div>
<div class="line"><a name="l00021"></a><span class="lineno"> 21</span>  search_->approxNearestSearch(input_point, k_index, k_distance);</div>
<div class="line"><a name="l00022"></a><span class="lineno"> 22</span>  <span class="keywordflow">if</span> (k_distance < maximum_distance_ * maximum_distance_) {</div>
<div class="line"><a name="l00023"></a><span class="lineno"> 23</span>  PointInT target_point = (*target_input_)[k_index];</div>
<div class="line"><a name="l00024"></a><span class="lineno"> 24</span>  <span class="keywordtype">double</span> coherence_val = 1.0;</div>
<div class="line"><a name="l00025"></a><span class="lineno"> 25</span>  <span class="keywordflow">for</span> (std::size_t i = 0; i < point_coherences_.size(); i++) {</div>
<div class="line"><a name="l00026"></a><span class="lineno"> 26</span>  <a class="code" href="classpcl_1_1tracking_1_1_approx_nearest_pair_point_cloud_coherence.html#ad809a3d6574359b9755669f7b897b4a9">PointCoherencePtr</a> coherence = point_coherences_[i];</div>
<div class="line"><a name="l00027"></a><span class="lineno"> 27</span>  <span class="keywordtype">double</span> w = coherence->compute(input_point, target_point);</div>
<div class="line"><a name="l00028"></a><span class="lineno"> 28</span>  coherence_val *= w;</div>
<div class="line"><a name="l00029"></a><span class="lineno"> 29</span>  }</div>
<div class="line"><a name="l00030"></a><span class="lineno"> 30</span>  val += coherence_val;</div>
<div class="line"><a name="l00031"></a><span class="lineno"> 31</span>  }</div>
<div class="line"><a name="l00032"></a><span class="lineno"> 32</span>  }</div>
<div class="line"><a name="l00033"></a><span class="lineno"> 33</span>  w = -<span class="keyword">static_cast<</span><span class="keywordtype">float</span><span class="keyword">></span>(val);</div>
<div class="line"><a name="l00034"></a><span class="lineno"> 34</span> }</div>
<div class="line"><a name="l00035"></a><span class="lineno"> 35</span>  </div>
<div class="line"><a name="l00036"></a><span class="lineno"> 36</span> <span class="keyword">template</span> <<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT></div>
<div class="line"><a name="l00037"></a><span class="lineno"> 37</span> <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00038"></a><span class="lineno"><a class="line" href="classpcl_1_1tracking_1_1_approx_nearest_pair_point_cloud_coherence.html#a5c710752fddfaedcc32a609fe9d074d6"> 38</a></span> <a class="code" href="classpcl_1_1tracking_1_1_approx_nearest_pair_point_cloud_coherence.html#a5c710752fddfaedcc32a609fe9d074d6">ApproxNearestPairPointCloudCoherence<PointInT>::initCompute</a>()</div>
<div class="line"><a name="l00039"></a><span class="lineno"> 39</span> {</div>
<div class="line"><a name="l00040"></a><span class="lineno"> 40</span>  <span class="keywordflow">if</span> (!<a class="code" href="classpcl_1_1tracking_1_1_point_cloud_coherence.html">PointCloudCoherence<PointInT>::initCompute</a>()) {</div>
<div class="line"><a name="l00041"></a><span class="lineno"> 41</span>  PCL_ERROR(<span class="stringliteral">"[pcl::%s::initCompute] PointCloudCoherence::Init failed.\n"</span>,</div>
<div class="line"><a name="l00042"></a><span class="lineno"> 42</span>  getClassName().c_str());</div>
<div class="line"><a name="l00043"></a><span class="lineno"> 43</span>  <span class="comment">// deinitCompute ();</span></div>
<div class="line"><a name="l00044"></a><span class="lineno"> 44</span>  <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00045"></a><span class="lineno"> 45</span>  }</div>
<div class="line"><a name="l00046"></a><span class="lineno"> 46</span>  </div>
<div class="line"><a name="l00047"></a><span class="lineno"> 47</span>  <span class="comment">// initialize tree</span></div>
<div class="line"><a name="l00048"></a><span class="lineno"> 48</span>  <span class="keywordflow">if</span> (!search_)</div>
<div class="line"><a name="l00049"></a><span class="lineno"> 49</span>  search_.reset(<span class="keyword">new</span> <a class="code" href="classpcl_1_1search_1_1_octree.html">pcl::search::Octree<PointInT></a>(0.01));</div>
<div class="line"><a name="l00050"></a><span class="lineno"> 50</span>  </div>
<div class="line"><a name="l00051"></a><span class="lineno"> 51</span>  <span class="keywordflow">if</span> (new_target_ && target_input_) {</div>
<div class="line"><a name="l00052"></a><span class="lineno"> 52</span>  search_->setInputCloud(target_input_);</div>
<div class="line"><a name="l00053"></a><span class="lineno"> 53</span>  new_target_ = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00054"></a><span class="lineno"> 54</span>  }</div>
<div class="line"><a name="l00055"></a><span class="lineno"> 55</span>  </div>
<div class="line"><a name="l00056"></a><span class="lineno"> 56</span>  <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
<div class="line"><a name="l00057"></a><span class="lineno"> 57</span> }</div>
<div class="line"><a name="l00058"></a><span class="lineno"> 58</span>  </div>
<div class="line"><a name="l00059"></a><span class="lineno"> 59</span> } <span class="comment">// namespace tracking</span></div>
<div class="line"><a name="l00060"></a><span class="lineno"> 60</span> } <span class="comment">// namespace pcl</span></div>
<div class="line"><a name="l00061"></a><span class="lineno"> 61</span>  </div>
<div class="line"><a name="l00062"></a><span class="lineno"> 62</span> <span class="preprocessor">#define PCL_INSTANTIATE_ApproxNearestPairPointCloudCoherence(T) \</span></div>
<div class="line"><a name="l00063"></a><span class="lineno"> 63</span> <span class="preprocessor"> template class PCL_EXPORTS pcl::tracking::ApproxNearestPairPointCloudCoherence<T>;</span></div>
<div class="line"><a name="l00064"></a><span class="lineno"> 64</span>  </div>
<div class="line"><a name="l00065"></a><span class="lineno"> 65</span> <span class="preprocessor">#endif</span></div>
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<div class="ttc" id="anamespacepcl_html"><div class="ttname"><a href="namespacepcl.html">pcl</a></div><div class="ttdef"><b>Definition:</b> <a href="2d_2include_2pcl_22d_2convolution_8h_source.html#l00046">convolution.h:46</a></div></div>
<div class="ttc" id="anamespacepcl_html_a011f84e43d80cb736d9ec9abd0930024"><div class="ttname"><a href="namespacepcl.html#a011f84e43d80cb736d9ec9abd0930024">pcl::IndicesConstPtr</a></div><div class="ttdeci">shared_ptr< const Indices > IndicesConstPtr</div><div class="ttdef"><b>Definition:</b> <a href="pcl__base_8h_source.html#l00059">pcl_base.h:59</a></div></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_octree_html"><div class="ttname"><a href="classpcl_1_1search_1_1_octree.html">pcl::search::Octree< PointInT ></a></div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_approx_nearest_pair_point_cloud_coherence_html_a5c710752fddfaedcc32a609fe9d074d6"><div class="ttname"><a href="classpcl_1_1tracking_1_1_approx_nearest_pair_point_cloud_coherence.html#a5c710752fddfaedcc32a609fe9d074d6">pcl::tracking::ApproxNearestPairPointCloudCoherence::initCompute</a></div><div class="ttdeci">bool initCompute() override</div><div class="ttdoc">This method should get called before starting the actual computation.</div><div class="ttdef"><b>Definition:</b> <a href="approx__nearest__pair__point__cloud__coherence_8hpp_source.html#l00038">approx_nearest_pair_point_cloud_coherence.hpp:38</a></div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_approx_nearest_pair_point_cloud_coherence_html_ac42f0c4c20e0ca2d8ef2e38bb90283af"><div class="ttname"><a href="classpcl_1_1tracking_1_1_approx_nearest_pair_point_cloud_coherence.html#ac42f0c4c20e0ca2d8ef2e38bb90283af">pcl::tracking::ApproxNearestPairPointCloudCoherence::computeCoherence</a></div><div class="ttdeci">void computeCoherence(const PointCloudInConstPtr &cloud, const IndicesConstPtr &indices, float &w_j) override</div><div class="ttdoc">compute the nearest pairs and compute coherence using point_coherences_</div><div class="ttdef"><b>Definition:</b> <a href="approx__nearest__pair__point__cloud__coherence_8hpp_source.html#l00011">approx_nearest_pair_point_cloud_coherence.hpp:11</a></div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_approx_nearest_pair_point_cloud_coherence_html_ad809a3d6574359b9755669f7b897b4a9"><div class="ttname"><a href="classpcl_1_1tracking_1_1_approx_nearest_pair_point_cloud_coherence.html#ad809a3d6574359b9755669f7b897b4a9">pcl::tracking::ApproxNearestPairPointCloudCoherence::PointCoherencePtr</a></div><div class="ttdeci">typename NearestPairPointCloudCoherence< PointInT >::PointCoherencePtr PointCoherencePtr</div><div class="ttdef"><b>Definition:</b> <a href="approx__nearest__pair__point__cloud__coherence_8h_source.html#l00018">approx_nearest_pair_point_cloud_coherence.h:18</a></div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_approx_nearest_pair_point_cloud_coherence_html_a9599be385d86568863e7f005e3e09658"><div class="ttname"><a href="classpcl_1_1tracking_1_1_approx_nearest_pair_point_cloud_coherence.html#a9599be385d86568863e7f005e3e09658">pcl::tracking::ApproxNearestPairPointCloudCoherence::PointCloudInConstPtr</a></div><div class="ttdeci">typename NearestPairPointCloudCoherence< PointInT >::PointCloudInConstPtr PointCloudInConstPtr</div><div class="ttdef"><b>Definition:</b> <a href="approx__nearest__pair__point__cloud__coherence_8h_source.html#l00020">approx_nearest_pair_point_cloud_coherence.h:20</a></div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_point_cloud_coherence_html"><div class="ttname"><a href="classpcl_1_1tracking_1_1_point_cloud_coherence.html">pcl::tracking::PointCloudCoherence</a></div><div class="ttdoc">PointCloudCoherence is a base class to compute coherence between the two PointClouds.</div><div class="ttdef"><b>Definition:</b> <a href="coherence_8h_source.html#l00059">coherence.h:59</a></div></div>
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