52 lines
1.2 KiB
C
52 lines
1.2 KiB
C
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#pragma once
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#include <pcl/tracking/coherence.h>
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namespace pcl {
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namespace tracking {
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/** \brief @b NormalCoherence computes coherence between two points from the angle
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* between their normals. the coherence is calculated by 1 / (1 + weight * theta^2 ).
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* \author Ryohei Ueda
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* \ingroup tracking
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*/
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template <typename PointInT>
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class NormalCoherence : public PointCoherence<PointInT> {
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public:
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/** \brief initialize the weight to 1.0. */
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NormalCoherence() : PointCoherence<PointInT>(), weight_(1.0) {}
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/** \brief set the weight of coherence
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* \param weight the weight of coherence
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*/
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inline void
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setWeight(double weight)
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{
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weight_ = weight;
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}
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/** \brief get the weight of coherence */
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inline double
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getWeight()
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{
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return weight_;
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}
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protected:
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/** \brief return the normal coherence between the two points.
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* \param source instance of source point.
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* \param target instance of target point.
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*/
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double
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computeCoherence(PointInT& source, PointInT& target) override;
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/** \brief the weight of coherence */
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double weight_;
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};
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} // namespace tracking
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} // namespace pcl
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// #include <pcl/tracking/impl/normal_coherence.hpp>
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#ifdef PCL_NO_PRECOMPILE
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#include <pcl/tracking/impl/normal_coherence.hpp>
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#endif
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