Point Cloud Library (PCL)  1.14.1-dev
pairwise_potential.h
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35  * Author : Christian Potthast
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39 
40 #pragma once
41 
42 #include <pcl/ml/permutohedral.h>
43 
44 #include <vector>
45 
46 namespace pcl {
47 
49 public:
50  /** Constructor for PairwisePotential class. */
51  PairwisePotential(const std::vector<float>& feature,
52  const int D,
53  const int N,
54  const float w);
55 
56  /** Deconstructor for PairwisePotential class. */
57  ~PairwisePotential() = default;
58 
59  void
60  compute(std::vector<float>& out,
61  const std::vector<float>& in,
62  std::vector<float>& tmp,
63  int value_size) const;
64 
65 protected:
66  /// Permutohedral lattice
68 
69  /// Number of variables
70  int N_;
71 
72  /// Weight
73  float w_;
74 
75  /// Norm
76  std::vector<float> norm_;
77 
78 public:
79  std::vector<float> bary_;
80  std::vector<float> features_;
81 };
82 
83 } // namespace pcl
PairwisePotential(const std::vector< float > &feature, const int D, const int N, const float w)
Constructor for PairwisePotential class.
std::vector< float > features_
void compute(std::vector< float > &out, const std::vector< float > &in, std::vector< float > &tmp, int value_size) const
~PairwisePotential()=default
Deconstructor for PairwisePotential class.
std::vector< float > norm_
Norm.
int N_
Number of variables.
std::vector< float > bary_
Permutohedral lattice_
Permutohedral lattice.
Implementation of a high-dimensional gaussian filtering using the permutohedral lattice.
Definition: permutohedral.h:66