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.