Point Cloud Library (PCL)
1.14.1-dev
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NormalCoherence computes coherence between two points from the angle between their normals. More...
#include <pcl/tracking/normal_coherence.h>
Public Member Functions | |
NormalCoherence () | |
initialize the weight to 1.0. More... | |
void | setWeight (double weight) |
set the weight of coherence More... | |
double | getWeight () |
get the weight of coherence More... | |
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PointCoherence ()=default | |
empty constructor More... | |
virtual | ~PointCoherence ()=default |
empty destructor More... | |
double | compute (PointInT &source, PointInT &target) |
compute coherence from the source point to the target point. More... | |
Protected Member Functions | |
double | computeCoherence (PointInT &source, PointInT &target) override |
return the normal coherence between the two points. More... | |
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const std::string & | getClassName () const |
Get a string representation of the name of this class. More... | |
Protected Attributes | |
double | weight_ {1.0} |
the weight of coherence More... | |
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std::string | coherence_name_ |
The coherence name. More... | |
Additional Inherited Members | |
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using | Ptr = shared_ptr< PointCoherence< PointInT > > |
using | ConstPtr = shared_ptr< const PointCoherence< PointInT > > |
NormalCoherence computes coherence between two points from the angle between their normals.
the coherence is calculated by 1 / (1 + weight * theta^2 ).
Definition at line 13 of file normal_coherence.h.
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inline |
initialize the weight to 1.0.
Definition at line 16 of file normal_coherence.h.
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overrideprotectedvirtual |
return the normal coherence between the two points.
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().
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inline |
get the weight of coherence
Definition at line 29 of file normal_coherence.h.
References pcl::tracking::NormalCoherence< PointInT >::weight_.
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inline |
set the weight of coherence
weight | the weight of coherence |
Definition at line 22 of file normal_coherence.h.
References pcl::tracking::NormalCoherence< PointInT >::weight_.
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protected |
the weight of coherence
Definition at line 43 of file normal_coherence.h.
Referenced by pcl::tracking::NormalCoherence< PointInT >::getWeight(), and pcl::tracking::NormalCoherence< PointInT >::setWeight().