42 lines
851 B
C++
42 lines
851 B
C++
#ifndef PCL_TRACKING_IMPL_TRACKER_H_
|
|
#define PCL_TRACKING_IMPL_TRACKER_H_
|
|
|
|
#include <pcl/tracking/tracker.h>
|
|
|
|
namespace pcl {
|
|
namespace tracking {
|
|
template <typename PointInT, typename StateT>
|
|
bool
|
|
Tracker<PointInT, StateT>::initCompute()
|
|
{
|
|
if (!PCLBase<PointInT>::initCompute()) {
|
|
PCL_ERROR("[pcl::%s::initCompute] PCLBase::Init failed.\n", getClassName().c_str());
|
|
return (false);
|
|
}
|
|
|
|
// If the dataset is empty, just return
|
|
if (input_->points.empty()) {
|
|
PCL_ERROR("[pcl::%s::compute] input_ is empty!\n", getClassName().c_str());
|
|
// Cleanup
|
|
deinitCompute();
|
|
return (false);
|
|
}
|
|
|
|
return (true);
|
|
}
|
|
|
|
template <typename PointInT, typename StateT>
|
|
void
|
|
Tracker<PointInT, StateT>::compute()
|
|
{
|
|
if (!initCompute())
|
|
return;
|
|
|
|
computeTracking();
|
|
deinitCompute();
|
|
}
|
|
} // namespace tracking
|
|
} // namespace pcl
|
|
|
|
#endif
|