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<div class="title">approx_nearest_pair_point_cloud_coherence.h</div> </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="preprocessor">#pragma once</span></div>
<div class="line"><a name="l00002"></a><span class="lineno"> 2</span>  </div>
<div class="line"><a name="l00003"></a><span class="lineno"> 3</span> <span class="preprocessor">#include <pcl/search/octree.h></span></div>
<div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="preprocessor">#include <pcl/tracking/nearest_pair_point_cloud_coherence.h></span></div>
<div class="line"><a name="l00005"></a><span class="lineno"> 5</span>  </div>
<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="keyword">namespace </span><a class="code" href="namespacepcl.html">pcl</a> {</div>
<div class="line"><a name="l00007"></a><span class="lineno"><a class="line" href="namespacepcl_1_1tracking.html"> 7</a></span> <span class="keyword">namespace </span>tracking {<span class="comment"></span></div>
<div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="comment">/** \brief @b ApproxNearestPairPointCloudCoherence computes coherence between</span></div>
<div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <span class="comment"> * two pointclouds using the approximate nearest point pairs.</span></div>
<div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <span class="comment"> * \author Ryohei Ueda</span></div>
<div class="line"><a name="l00011"></a><span class="lineno"> 11</span> <span class="comment"> * \ingroup tracking</span></div>
<div class="line"><a name="l00012"></a><span class="lineno"> 12</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00013"></a><span class="lineno"> 13</span> <span class="keyword">template</span> <<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT></div>
<div class="line"><a name="l00014"></a><span class="lineno"><a class="line" href="classpcl_1_1tracking_1_1_approx_nearest_pair_point_cloud_coherence.html"> 14</a></span> <span class="keyword">class </span><a class="code" href="classpcl_1_1tracking_1_1_approx_nearest_pair_point_cloud_coherence.html">ApproxNearestPairPointCloudCoherence</a></div>
<div class="line"><a name="l00015"></a><span class="lineno"> 15</span> : <span class="keyword">public</span> <a class="code" href="classpcl_1_1tracking_1_1_nearest_pair_point_cloud_coherence.html">NearestPairPointCloudCoherence</a><PointInT> {</div>
<div class="line"><a name="l00016"></a><span class="lineno"> 16</span> <span class="keyword">public</span>:</div>
<div class="line"><a name="l00017"></a><span class="lineno"><a class="line" href="classpcl_1_1tracking_1_1_approx_nearest_pair_point_cloud_coherence.html#ad809a3d6574359b9755669f7b897b4a9"> 17</a></span>  <span class="keyword">using</span> <a class="code" href="classpcl_1_1tracking_1_1_approx_nearest_pair_point_cloud_coherence.html#ad809a3d6574359b9755669f7b897b4a9">PointCoherencePtr</a> =</div>
<div class="line"><a name="l00018"></a><span class="lineno"> 18</span>  <span class="keyword">typename</span> <a class="code" href="classpcl_1_1tracking_1_1_nearest_pair_point_cloud_coherence.html#a5e4be9ef9e614acd11b284c1a7c1eb19">NearestPairPointCloudCoherence<PointInT>::PointCoherencePtr</a>;</div>
<div class="line"><a name="l00019"></a><span class="lineno"><a class="line" href="classpcl_1_1tracking_1_1_approx_nearest_pair_point_cloud_coherence.html#a9599be385d86568863e7f005e3e09658"> 19</a></span>  <span class="keyword">using</span> <a class="code" href="classpcl_1_1tracking_1_1_approx_nearest_pair_point_cloud_coherence.html#a9599be385d86568863e7f005e3e09658">PointCloudInConstPtr</a> =</div>
<div class="line"><a name="l00020"></a><span class="lineno"> 20</span>  <span class="keyword">typename</span> <a class="code" href="classpcl_1_1tracking_1_1_nearest_pair_point_cloud_coherence.html#a287e6e7d75c469d7e7ec356d2f1c593b">NearestPairPointCloudCoherence<PointInT>::PointCloudInConstPtr</a>;</div>
<div class="line"><a name="l00021"></a><span class="lineno"> 21</span>  <span class="comment">// using NearestPairPointCloudCoherence<PointInT>::search_;</span></div>
<div class="line"><a name="l00022"></a><span class="lineno"> 22</span>  <span class="keyword">using</span> <a class="code" href="classpcl_1_1tracking_1_1_nearest_pair_point_cloud_coherence.html">NearestPairPointCloudCoherence<PointInT>::maximum_distance_</a>;</div>
<div class="line"><a name="l00023"></a><span class="lineno"> 23</span>  <span class="keyword">using</span> <a class="code" href="classpcl_1_1tracking_1_1_nearest_pair_point_cloud_coherence.html">NearestPairPointCloudCoherence<PointInT>::target_input_</a>;</div>
<div class="line"><a name="l00024"></a><span class="lineno"> 24</span>  <span class="keyword">using</span> <a class="code" href="classpcl_1_1tracking_1_1_nearest_pair_point_cloud_coherence.html">NearestPairPointCloudCoherence<PointInT>::point_coherences_</a>;</div>
<div class="line"><a name="l00025"></a><span class="lineno"> 25</span>  <span class="keyword">using</span> <a class="code" href="classpcl_1_1tracking_1_1_nearest_pair_point_cloud_coherence.html">NearestPairPointCloudCoherence<PointInT>::coherence_name_</a>;</div>
<div class="line"><a name="l00026"></a><span class="lineno"> 26</span>  <span class="keyword">using</span> <a class="code" href="classpcl_1_1tracking_1_1_nearest_pair_point_cloud_coherence.html">NearestPairPointCloudCoherence<PointInT>::new_target_</a>;</div>
<div class="line"><a name="l00027"></a><span class="lineno"> 27</span>  <span class="keyword">using</span> <a class="code" href="classpcl_1_1tracking_1_1_nearest_pair_point_cloud_coherence.html">NearestPairPointCloudCoherence<PointInT>::getClassName</a>;</div>
<div class="line"><a name="l00028"></a><span class="lineno"> 28</span> <span class="comment"></span> </div>
<div class="line"><a name="l00029"></a><span class="lineno"> 29</span> <span class="comment"> /** \brief empty constructor */</span></div>
<div class="line"><a name="l00030"></a><span class="lineno"><a class="line" href="classpcl_1_1tracking_1_1_approx_nearest_pair_point_cloud_coherence.html#ade1643a78bd318139e4634f4a9c15e66"> 30</a></span>  <a class="code" href="classpcl_1_1tracking_1_1_approx_nearest_pair_point_cloud_coherence.html#ade1643a78bd318139e4634f4a9c15e66">ApproxNearestPairPointCloudCoherence</a>()</div>
<div class="line"><a name="l00031"></a><span class="lineno"> 31</span>  : <a class="code" href="classpcl_1_1tracking_1_1_nearest_pair_point_cloud_coherence.html">NearestPairPointCloudCoherence</a><PointInT>(), <a class="code" href="classpcl_1_1tracking_1_1_approx_nearest_pair_point_cloud_coherence.html#a4227004a12724eadda3378a1e6476998">search_</a>()</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>  <a class="code" href="classpcl_1_1tracking_1_1_point_cloud_coherence.html#a886cd3411611a87520c7d3f387f23953">coherence_name_</a> = <span class="stringliteral">"ApproxNearestPairPointCloudCoherence"</span>;</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">protected</span>:<span class="comment"></span></div>
<div class="line"><a name="l00037"></a><span class="lineno"> 37</span> <span class="comment"> /** \brief This method should get called before starting the actual</span></div>
<div class="line"><a name="l00038"></a><span class="lineno"> 38</span> <span class="comment"> * computation.</span></div>
<div class="line"><a name="l00039"></a><span class="lineno"> 39</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00040"></a><span class="lineno"> 40</span>  <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00041"></a><span class="lineno"> 41</span>  <a class="code" href="classpcl_1_1tracking_1_1_approx_nearest_pair_point_cloud_coherence.html#a5c710752fddfaedcc32a609fe9d074d6">initCompute</a>() <span class="keyword">override</span>;</div>
<div class="line"><a name="l00042"></a><span class="lineno"> 42</span> <span class="comment"></span> </div>
<div class="line"><a name="l00043"></a><span class="lineno"> 43</span> <span class="comment"> /** \brief compute the nearest pairs and compute coherence using</span></div>
<div class="line"><a name="l00044"></a><span class="lineno"> 44</span> <span class="comment"> * point_coherences_</span></div>
<div class="line"><a name="l00045"></a><span class="lineno"> 45</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00046"></a><span class="lineno"> 46</span>  <span class="keywordtype">void</span></div>
<div class="line"><a name="l00047"></a><span class="lineno"> 47</span>  <a class="code" href="classpcl_1_1tracking_1_1_approx_nearest_pair_point_cloud_coherence.html#ac42f0c4c20e0ca2d8ef2e38bb90283af">computeCoherence</a>(<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,</div>
<div class="line"><a name="l00048"></a><span class="lineno"> 48</span>  <span class="keyword">const</span> <a class="code" href="namespacepcl.html#a011f84e43d80cb736d9ec9abd0930024">IndicesConstPtr</a>& indices,</div>
<div class="line"><a name="l00049"></a><span class="lineno"> 49</span>  <span class="keywordtype">float</span>& w_j) <span class="keyword">override</span>;</div>
<div class="line"><a name="l00050"></a><span class="lineno"> 50</span>  </div>
<div class="line"><a name="l00051"></a><span class="lineno"><a class="line" href="classpcl_1_1tracking_1_1_approx_nearest_pair_point_cloud_coherence.html#a4227004a12724eadda3378a1e6476998"> 51</a></span>  <span class="keyword">typename</span> <a class="code" href="classpcl_1_1search_1_1_octree.html#ac93624a517854b8471e89efba8c388c4">pcl::search::Octree<PointInT>::Ptr</a> <a class="code" href="classpcl_1_1tracking_1_1_approx_nearest_pair_point_cloud_coherence.html#a4227004a12724eadda3378a1e6476998">search_</a>;</div>
<div class="line"><a name="l00052"></a><span class="lineno"> 52</span> };</div>
<div class="line"><a name="l00053"></a><span class="lineno"> 53</span> } <span class="comment">// namespace tracking</span></div>
<div class="line"><a name="l00054"></a><span class="lineno"> 54</span> } <span class="comment">// namespace pcl</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="preprocessor">#ifdef PCL_NO_PRECOMPILE</span></div>
<div class="line"><a name="l00057"></a><span class="lineno"> 57</span> <span class="preprocessor">#include <pcl/tracking/impl/approx_nearest_pair_point_cloud_coherence.hpp></span></div>
<div class="line"><a name="l00058"></a><span class="lineno"> 58</span> <span class="preprocessor">#endif</span></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_octree_html_ac93624a517854b8471e89efba8c388c4"><div class="ttname"><a href="classpcl_1_1search_1_1_octree.html#ac93624a517854b8471e89efba8c388c4">pcl::search::Octree::Ptr</a></div><div class="ttdeci">shared_ptr< pcl::search::Octree< PointT, LeafTWrap, BranchTWrap, OctreeT > > Ptr</div><div class="ttdef"><b>Definition:</b> <a href="search_2include_2pcl_2search_2octree_8h_source.html#l00072">octree.h:72</a></div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_approx_nearest_pair_point_cloud_coherence_html"><div class="ttname"><a href="classpcl_1_1tracking_1_1_approx_nearest_pair_point_cloud_coherence.html">pcl::tracking::ApproxNearestPairPointCloudCoherence</a></div><div class="ttdoc">ApproxNearestPairPointCloudCoherence computes coherence between two pointclouds using the approximate...</div><div class="ttdef"><b>Definition:</b> <a href="approx__nearest__pair__point__cloud__coherence_8h_source.html#l00014">approx_nearest_pair_point_cloud_coherence.h:15</a></div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_approx_nearest_pair_point_cloud_coherence_html_a4227004a12724eadda3378a1e6476998"><div class="ttname"><a href="classpcl_1_1tracking_1_1_approx_nearest_pair_point_cloud_coherence.html#a4227004a12724eadda3378a1e6476998">pcl::tracking::ApproxNearestPairPointCloudCoherence::search_</a></div><div class="ttdeci">pcl::search::Octree< PointInT >::Ptr search_</div><div class="ttdef"><b>Definition:</b> <a href="approx__nearest__pair__point__cloud__coherence_8h_source.html#l00051">approx_nearest_pair_point_cloud_coherence.h:51</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_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#l00019">approx_nearest_pair_point_cloud_coherence.h:20</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#l00017">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_ade1643a78bd318139e4634f4a9c15e66"><div class="ttname"><a href="classpcl_1_1tracking_1_1_approx_nearest_pair_point_cloud_coherence.html#ade1643a78bd318139e4634f4a9c15e66">pcl::tracking::ApproxNearestPairPointCloudCoherence::ApproxNearestPairPointCloudCoherence</a></div><div class="ttdeci">ApproxNearestPairPointCloudCoherence()</div><div class="ttdoc">empty constructor</div><div class="ttdef"><b>Definition:</b> <a href="approx__nearest__pair__point__cloud__coherence_8h_source.html#l00030">approx_nearest_pair_point_cloud_coherence.h:30</a></div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_nearest_pair_point_cloud_coherence_html"><div class="ttname"><a href="classpcl_1_1tracking_1_1_nearest_pair_point_cloud_coherence.html">pcl::tracking::NearestPairPointCloudCoherence</a></div><div class="ttdoc">NearestPairPointCloudCoherence computes coherence between two pointclouds using the nearest point pai...</div><div class="ttdef"><b>Definition:</b> <a href="nearest__pair__point__cloud__coherence_8h_source.html#l00014">nearest_pair_point_cloud_coherence.h:15</a></div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_nearest_pair_point_cloud_coherence_html_a287e6e7d75c469d7e7ec356d2f1c593b"><div class="ttname"><a href="classpcl_1_1tracking_1_1_nearest_pair_point_cloud_coherence.html#a287e6e7d75c469d7e7ec356d2f1c593b">pcl::tracking::NearestPairPointCloudCoherence::PointCloudInConstPtr</a></div><div class="ttdeci">typename PointCloudCoherence< PointInT >::PointCloudInConstPtr PointCloudInConstPtr</div><div class="ttdef"><b>Definition:</b> <a href="nearest__pair__point__cloud__coherence_8h_source.html#l00022">nearest_pair_point_cloud_coherence.h:23</a></div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_nearest_pair_point_cloud_coherence_html_a5e4be9ef9e614acd11b284c1a7c1eb19"><div class="ttname"><a href="classpcl_1_1tracking_1_1_nearest_pair_point_cloud_coherence.html#a5e4be9ef9e614acd11b284c1a7c1eb19">pcl::tracking::NearestPairPointCloudCoherence::PointCoherencePtr</a></div><div class="ttdeci">typename PointCloudCoherence< PointInT >::PointCoherencePtr PointCoherencePtr</div><div class="ttdef"><b>Definition:</b> <a href="nearest__pair__point__cloud__coherence_8h_source.html#l00021">nearest_pair_point_cloud_coherence.h:21</a></div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_point_cloud_coherence_html_a886cd3411611a87520c7d3f387f23953"><div class="ttname"><a href="classpcl_1_1tracking_1_1_point_cloud_coherence.html#a886cd3411611a87520c7d3f387f23953">pcl::tracking::PointCloudCoherence::coherence_name_</a></div><div class="ttdeci">std::string coherence_name_</div><div class="ttdoc">The coherence name.</div><div class="ttdef"><b>Definition:</b> <a href="coherence_8h_source.html#l00138">coherence.h:138</a></div></div>
<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>
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