3#include <pcl/search/search.h>
4#include <pcl/tracking/coherence.h>
13template <
typename Po
intInT>
26 using Ptr = shared_ptr<NearestPairPointCloudCoherence<PointInT>>;
27 using ConstPtr = shared_ptr<const NearestPairPointCloudCoherence<PointInT>>;
34 coherence_name_ =
"NearestPairPointCloudCoherence";
73 maximum_distance_ = val;
82 initCompute()
override;
85 bool new_target_{
false};
91 double maximum_distance_{std::numeric_limits<double>::max()};
96 computeCoherence(
const PointCloudInConstPtr& cloud,
104#ifdef PCL_NO_PRECOMPILE
105#include <pcl/tracking/impl/nearest_pair_point_cloud_coherence.hpp>
shared_ptr< const pcl::search::Search< PointT > > ConstPtr
shared_ptr< pcl::search::Search< PointT > > Ptr
NearestPairPointCloudCoherence computes coherence between two pointclouds using the nearest point pai...
shared_ptr< NearestPairPointCloudCoherence< PointInT > > Ptr
typename PointCloudCoherence< PointInT >::PointCloudInConstPtr PointCloudInConstPtr
typename pcl::search::Search< PointInT >::ConstPtr SearchConstPtr
void setMaximumDistance(double val)
set maximum distance to be taken into account.
typename PointCloudCoherence< PointInT >::PointCoherencePtr PointCoherencePtr
PointCloudCoherence< PointInT > BaseClass
void setTargetCloud(const PointCloudInConstPtr &cloud) override
add a PointCoherence to the PointCloudCoherence.
SearchPtr getSearchMethod()
Get a pointer to the point cloud dataset.
NearestPairPointCloudCoherence()
empty constructor
typename pcl::search::Search< PointInT >::Ptr SearchPtr
shared_ptr< const NearestPairPointCloudCoherence< PointInT > > ConstPtr
void setSearchMethod(const SearchPtr &search)
Provide a pointer to a dataset to add additional information to estimate the features for every point...
PointCloudCoherence is a base class to compute coherence between the two PointClouds.
typename PointCloudIn::ConstPtr PointCloudInConstPtr
typename PointCoherence< PointInT >::Ptr PointCoherencePtr
shared_ptr< const Indices > IndicesConstPtr