1 #ifndef PCL_TRACKING_IMPL_DISTANCE_COHERENCE_H_
2 #define PCL_TRACKING_IMPL_DISTANCE_COHERENCE_H_
5 #include <pcl/tracking/distance_coherence.h>
11 template <
typename Po
intInT>
double
14 Eigen::Vector4f p = source.getVector4fMap ();
15 Eigen::Vector4f p_dash = target.getVector4fMap ();
16 double d = (p - p_dash).norm ();
17 return 1.0 / (1.0 + d * d * weight_);
22 #define PCL_INSTANTIATE_DistanceCoherence(T) template class PCL_EXPORTS pcl::tracking::DistanceCoherence<T>;
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.