Point Cloud Library (PCL)
1.10.0
pcl
ml
pairwise_potential.h
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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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* All rights reserved.
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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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* * 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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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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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 <vector>
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#include <pcl/ml/permutohedral.h>
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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
pcl
This file defines compatibility wrappers for low level I/O functions.
Definition:
convolution.h:45
pcl::PairwisePotential::PairwisePotential
PairwisePotential(const std::vector< float > &feature, const int D, const int N, const float w)
Constructor for PairwisePotential class.
pcl::PairwisePotential::~PairwisePotential
~PairwisePotential()
Deconstructor for PairwisePotential class.
Definition:
pairwise_potential.h:57
pcl::PairwisePotential::norm_
std::vector< float > norm_
Norm.
Definition:
pairwise_potential.h:76
pcl::PairwisePotential::bary_
std::vector< float > bary_
Definition:
pairwise_potential.h:79
pcl::PairwisePotential::N_
int N_
Number of variables.
Definition:
pairwise_potential.h:70
pcl::PairwisePotential::features_
std::vector< float > features_
Definition:
pairwise_potential.h:80
pcl::PairwisePotential::compute
void compute(std::vector< float > &out, const std::vector< float > &in, std::vector< float > &tmp, int value_size) const
pcl::PairwisePotential
Definition:
pairwise_potential.h:48
pcl::PairwisePotential::lattice_
Permutohedral lattice_
Permutohedral lattice.
Definition:
pairwise_potential.h:67
pcl::PairwisePotential::w_
float w_
Weight.
Definition:
pairwise_potential.h:73
pcl::Permutohedral
Implementation of a high-dimensional gaussian filtering using the permutohedral lattice.
Definition:
permutohedral.h:73