42 #include <pcl/ml/pairwise_potential.h>
61 setDataVector(
const std::vector<Eigen::Vector3i,
62 Eigen::aligned_allocator<Eigen::Vector3i>> data);
66 setColorVector(
const std::vector<Eigen::Vector3i,
67 Eigen::aligned_allocator<Eigen::Vector3i>> color);
70 setUnaryEnergy(
const std::vector<float> unary);
73 addPairwiseEnergy(
const std::vector<float>& feature,
74 const int feature_dimension,
79 addPairwiseGaussian(
float sx,
float sy,
float sz,
float w);
84 float sx,
float sy,
float sz,
float sr,
float sg,
float sb,
float w);
88 std::vector<Eigen::Vector3i, Eigen::aligned_allocator<Eigen::Vector3i>>& coord,
89 std::vector<Eigen::Vector3f, Eigen::aligned_allocator<Eigen::Vector3f>>& normals,
99 inference(
int n_iterations, std::vector<float>& result,
float relax = 1.0f);
102 mapInference(
int n_iterations, std::vector<int>& result,
float relax = 1.0f);
105 expAndNormalize(std::vector<float>& out,
106 const std::vector<float>& in,
108 float relax = 1.0f)
const;
111 expAndNormalizeORI(
float* out,
116 map(
int n_iterations, std::vector<int> result,
float relax = 1.0f);
119 runInference(
int n_iterations,
float relax);
125 stepInference(
float relax);
128 runInference(
float relax);
131 getBarycentric(
int idx, std::vector<float>& bary);
134 getFeatures(
int idx, std::vector<float>& features);
141 std::vector<Eigen::Vector3i, Eigen::aligned_allocator<Eigen::Vector3i>>
data_;
144 std::vector<Eigen::Vector3i, Eigen::aligned_allocator<Eigen::Vector3i>>
color_;