84 lines
2.5 KiB
C
84 lines
2.5 KiB
C
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/*
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* Software License Agreement (BSD License)
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*
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* Point Cloud Library (PCL) - www.pointclouds.org
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*
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of Willow Garage, Inc. nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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* Author : Christian Potthast
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* Email : potthast@usc.edu
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*
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*/
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#pragma once
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#include <pcl/ml/permutohedral.h>
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#include <vector>
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namespace pcl {
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class PairwisePotential {
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public:
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/** Constructor for PairwisePotential class. */
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PairwisePotential(const std::vector<float>& feature,
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const int D,
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const int N,
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const float w);
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/** Deconstructor for PairwisePotential class. */
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~PairwisePotential(){};
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void
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compute(std::vector<float>& out,
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const std::vector<float>& in,
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std::vector<float>& tmp,
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int value_size) const;
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protected:
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/// Permutohedral lattice
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Permutohedral lattice_;
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/// Number of variables
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int N_;
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/// Weight
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float w_;
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/// Norm
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std::vector<float> norm_;
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public:
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std::vector<float> bary_;
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std::vector<float> features_;
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};
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} // namespace pcl
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