Point Cloud Library (PCL)
1.14.0
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pcl
tracking
impl
distance_coherence.hpp
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#ifndef PCL_TRACKING_IMPL_DISTANCE_COHERENCE_H_
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#define PCL_TRACKING_IMPL_DISTANCE_COHERENCE_H_
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#include <pcl/tracking/distance_coherence.h>
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namespace
pcl
{
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namespace
tracking {
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template
<
typename
Po
int
InT>
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double
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DistanceCoherence<PointInT>::computeCoherence
(PointInT& source, PointInT& target)
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{
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Eigen::Vector4f p = source.getVector4fMap();
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Eigen::Vector4f p_dash = target.getVector4fMap();
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double
d = (p - p_dash).norm();
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return
1.0 / (1.0 + d * d * weight_);
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}
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}
// namespace tracking
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}
// namespace pcl
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#define PCL_INSTANTIATE_DistanceCoherence(T) \
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template class PCL_EXPORTS pcl::tracking::DistanceCoherence<T>;
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#endif
pcl::tracking::DistanceCoherence::computeCoherence
double computeCoherence(PointInT &source, PointInT &target) override
return the distance coherence between the two points.
Definition
distance_coherence.hpp:10
pcl
Definition
convolution.h:46