thirdParty/PCL 1.12.0/include/pcl-1.12/pcl/registration/distances.h

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#pragma once

#include <Eigen/Core>

#include <string.h>

#include <algorithm>
#include <vector>

namespace pcl {
namespace distances {

/** \brief Compute the median value from a set of doubles
 * \param[in] fvec the set of doubles
 * \param[in] m the number of doubles in the set
 */
inline double
computeMedian(double* fvec, int m)
{
  // Copy the values to vectors for faster sorting
  std::vector<double> data(m);
  memcpy(&data[0], fvec, sizeof(double) * m);

  std::nth_element(data.begin(), data.begin() + (data.size() >> 1), data.end());
  return (data[data.size() >> 1]);
}

/** \brief Use a Huber kernel to estimate the distance between two vectors
 * \param[in] p_src the first eigen vector
 * \param[in] p_tgt the second eigen vector
 * \param[in] sigma the sigma value
 */
inline double
huber(const Eigen::Vector4f& p_src, const Eigen::Vector4f& p_tgt, double sigma)
{
  Eigen::Array4f diff = (p_tgt.array() - p_src.array()).abs();
  double norm = 0.0;
  for (int i = 0; i < 3; ++i) {
    if (diff[i] < sigma)
      norm += diff[i] * diff[i];
    else
      norm += 2.0 * sigma * diff[i] - sigma * sigma;
  }
  return (norm);
}

/** \brief Use a Huber kernel to estimate the distance between two vectors
 * \param[in] diff the norm difference between two vectors
 * \param[in] sigma the sigma value
 */
inline double
huber(double diff, double sigma)
{
  double norm = 0.0;
  if (diff < sigma)
    norm += diff * diff;
  else
    norm += 2.0 * sigma * diff - sigma * sigma;
  return (norm);
}

/** \brief Use a Gedikli kernel to estimate the distance between two vectors
 * (for more information, see
 * \param[in] val the norm difference between two vectors
 * \param[in] clipping the clipping value
 * \param[in] slope the slope. Default: 4
 */
inline double
gedikli(double val, double clipping, double slope = 4)
{
  return (1.0 / (1.0 + pow(std::abs(val) / clipping, slope)));
}

/** \brief Compute the Manhattan distance between two eigen vectors.
 * \param[in] p_src the first eigen vector
 * \param[in] p_tgt the second eigen vector
 */
inline double
l1(const Eigen::Vector4f& p_src, const Eigen::Vector4f& p_tgt)
{
  return ((p_src.array() - p_tgt.array()).abs().sum());
}

/** \brief Compute the Euclidean distance between two eigen vectors.
 * \param[in] p_src the first eigen vector
 * \param[in] p_tgt the second eigen vector
 */
inline double
l2(const Eigen::Vector4f& p_src, const Eigen::Vector4f& p_tgt)
{
  return ((p_src - p_tgt).norm());
}

/** \brief Compute the squared Euclidean distance between two eigen vectors.
 * \param[in] p_src the first eigen vector
 * \param[in] p_tgt the second eigen vector
 */
inline double
l2Sqr(const Eigen::Vector4f& p_src, const Eigen::Vector4f& p_tgt)
{
  return ((p_src - p_tgt).squaredNorm());
}
} // namespace distances
} // namespace pcl