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_;
std::vector< float > current_
Defines functions, macros and traits for allocating and using memory.
std::vector< PairwisePotential * > pairwise_potential_
Pairwise potentials.
int N_
Number of variables and labels.
std::vector< float > tmp_
std::vector< Eigen::Vector3i, Eigen::aligned_allocator< Eigen::Vector3i > > color_
Color vector.
#define PCL_MAKE_ALIGNED_OPERATOR_NEW
Macro to signal a class requires a custom allocator.
std::vector< float > unary_
CRF unary potentials.
std::vector< Eigen::Vector3i, Eigen::aligned_allocator< Eigen::Vector3i > > data_
Data vector.
Defines all the PCL and non-PCL macros used.
std::vector< float > next_