Point Cloud Library (PCL)  1.9.1
distance_coherence.h
1 #ifndef PCL_TRACKING_DISTANCE_COHERENCE_H_
2 #define PCL_TRACKING_DISTANCE_COHERENCE_H_
3 
4 #include <pcl/tracking/coherence.h>
5 
6 namespace pcl
7 {
8  namespace tracking
9  {
10  /** \brief @b DistanceCoherence computes coherence between two points from the distance
11  between them. the coherence is calculated by 1 / (1 + weight * d^2 ).
12  * \author Ryohei Ueda
13  * \ingroup tracking
14  */
15  template <typename PointInT>
16  class DistanceCoherence: public PointCoherence<PointInT>
17  {
18  public:
19 
20  /** \brief initialize the weight to 1.0. */
22  : PointCoherence<PointInT> ()
23  , weight_ (1.0)
24  {}
25 
26  /** \brief set the weight of coherence.
27  * \param weight the value of the wehgit.
28  */
29  inline void setWeight (double weight) { weight_ = weight; }
30 
31  /** \brief get the weight of coherence.*/
32  inline double getWeight () { return weight_; }
33 
34  protected:
35 
36  /** \brief return the distance coherence between the two points.
37  * \param source instance of source point.
38  * \param target instance of target point.
39  */
40  double computeCoherence (PointInT &source, PointInT &target);
41 
42  /** \brief the weight of coherence.*/
43  double weight_;
44  };
45  }
46 }
47 
48 #ifdef PCL_NO_PRECOMPILE
49 #include <pcl/tracking/impl/distance_coherence.hpp>
50 #endif
51 
52 // #include <pcl/tracking/impl/distance_coherence.hpp>
53 
54 #endif
double computeCoherence(PointInT &source, PointInT &target)
return the distance coherence between the two points.
This file defines compatibility wrappers for low level I/O functions.
Definition: convolution.h:45
double getWeight()
get the weight of coherence.
void setWeight(double weight)
set the weight of coherence.
DistanceCoherence()
initialize the weight to 1.0.
PointCoherence is a base class to compute coherence between the two points.
Definition: coherence.h:17
double weight_
the weight of coherence.
DistanceCoherence computes coherence between two points from the distance between them.