pairwise_potential.h

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 * Author : Christian Potthast
 * Email  : potthast@usc.edu
 *
 */
 
#pragma once
 
#include <pcl/ml/permutohedral.h>
 
#include <vector>
 
namespace pcl {
 
class PairwisePotential {
public:
  /** Constructor for PairwisePotential class. */
  PairwisePotential(const std::vector<float>& feature,
                    const int D,
                    const int N,
                    const float w);
 
  /** Deconstructor for PairwisePotential class. */
  ~PairwisePotential() = default;
 
  void
  compute(std::vector<float>& out,
          const std::vector<float>& in,
          std::vector<float>& tmp,
          int value_size) const;
 
protected:
  /// Permutohedral lattice
  Permutohedral lattice_;
 
  /// Number of variables
  int N_;
 
  /// Weight
  float w_;
 
  /// Norm
  std::vector<float> norm_;
 
public:
  std::vector<float> bary_;
  std::vector<float> features_;
};
 
} // namespace pcl