Point Cloud Library (PCL) 1.13.0
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norms.hpp
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38
39#pragma once
40
41#include <pcl/common/norms.h>
42#include <pcl/console/print.h>
43#include <pcl/pcl_macros.h>
44
45
46namespace pcl
47{
48
49template <typename FloatVectorT> inline float
50selectNorm (FloatVectorT a, FloatVectorT b, int dim, NormType norm_type)
51{
52 // {L1, L2_SQR, L2, LINF, JM, B, SUBLINEAR, CS, DIV, PF, K, KL, HIK};
53 switch (norm_type)
54 {
55 case (L1):
56 return L1_Norm (a, b, dim);
57 case (L2_SQR):
58 return L2_Norm_SQR (a, b, dim);
59 case (L2):
60 return L2_Norm (a, b, dim);
61 case (LINF):
62 return Linf_Norm (a, b, dim);
63 case (JM):
64 return JM_Norm (a, b, dim);
65 case (B):
66 return B_Norm (a, b, dim);
67 case (SUBLINEAR):
68 return Sublinear_Norm (a, b, dim);
69 case (CS):
70 return CS_Norm (a, b, dim);
71 case (DIV):
72 return Div_Norm (a, b, dim);
73 case (KL):
74 return KL_Norm (a, b, dim);
75 case (HIK):
76 return HIK_Norm (a, b, dim);
77
78 case (PF):
79 case (K):
80 default:
81 PCL_ERROR ("[pcl::selectNorm] For PF and K norms you have to explicitly call the method, as they need additional parameters\n");
82 return -1;
83 }
84}
85
86
87template <typename FloatVectorT> inline float
88L1_Norm (FloatVectorT a, FloatVectorT b, int dim)
89{
90 float norm = 0.0f;
91 for (int i = 0; i < dim; ++i)
92 norm += std::abs(a[i] - b[i]);
93 return norm;
94}
95
96
97template <typename FloatVectorT> inline float
98L2_Norm_SQR (FloatVectorT a, FloatVectorT b, int dim)
99{
100 float norm = 0.0;
101 for (int i = 0; i < dim; ++i)
102 {
103 float diff = a[i] - b[i];
104 norm += diff*diff;
105 }
106 return norm;
107}
108
109
110template <typename FloatVectorT> inline float
111L2_Norm (FloatVectorT a, FloatVectorT b, int dim)
112{
113 return std::sqrt (L2_Norm_SQR(a, b, dim));
114}
115
116
117template <typename FloatVectorT> inline float
118Linf_Norm (FloatVectorT a, FloatVectorT b, int dim)
119{
120 float norm = 0.0;
121 for (int i = 0; i < dim; ++i)
122 norm = (std::max)(std::abs(a[i] - b[i]), norm);
123 return norm;
124}
125
126
127template <typename FloatVectorT> inline float
128JM_Norm (FloatVectorT a, FloatVectorT b, int dim)
129{
130 float norm = 0.0;
131
132 for (int i = 0; i < dim; ++i)
133 norm += (std::sqrt (a[i]) - std::sqrt (b[i])) * (std::sqrt (a[i]) - std::sqrt (b[i]));
134
135 return std::sqrt (norm);
136}
137
138
139template <typename FloatVectorT> inline float
140B_Norm (FloatVectorT a, FloatVectorT b, int dim)
141{
142 float norm = 0.0, result;
143
144 for (int i = 0; i < dim; ++i)
145 norm += std::sqrt (a[i] * b[i]);
146
147 if (norm > 0)
148 result = -std::log (norm);
149 else
150 result = 0;
151
152 return result;
153}
154
155
156template <typename FloatVectorT> inline float
157Sublinear_Norm (FloatVectorT a, FloatVectorT b, int dim)
158{
159 float norm = 0.0;
160
161 for (int i = 0; i < dim; ++i)
162 norm += std::sqrt (std::abs (a[i] - b[i]));
163
164 return norm;
165}
166
167
168template <typename FloatVectorT> inline float
169CS_Norm (FloatVectorT a, FloatVectorT b, int dim)
170{
171 float norm = 0.0;
172
173 for (int i = 0; i < dim; ++i)
174 if ((a[i] + b[i]) != 0)
175 norm += (a[i] - b[i]) * (a[i] - b[i]) / (a[i] + b[i]);
176 else
177 norm += 0;
178 return norm;
179}
180
181
182template <typename FloatVectorT> inline float
183Div_Norm (FloatVectorT a, FloatVectorT b, int dim)
184{
185 float norm = 0.0;
186
187 for (int i = 0; i < dim; ++i)
188 if ((a[i] / b[i]) > 0)
189 norm += (a[i] - b[i]) * std::log (a[i] / b[i]);
190 else
191 norm += 0;
192 return norm;
193}
194
195
196template <typename FloatVectorT> inline float
197PF_Norm (FloatVectorT a, FloatVectorT b, int dim, float P1, float P2)
198{
199 float norm = 0.0;
200
201 for (int i = 0; i < dim; ++i)
202 norm += (P1 * a[i] - P2 * b[i]) * (P1 * a[i] - P2 * b[i]);
203 return std::sqrt (norm);
204}
205
206
207template <typename FloatVectorT> inline float
208K_Norm (FloatVectorT a, FloatVectorT b, int dim, float P1, float P2)
209{
210 float norm = 0.0;
211
212 for (int i = 0; i < dim; ++i)
213 norm += std::abs (P1 * a[i] - P2 * b[i]);
214 return norm;
215}
216
217
218template <typename FloatVectorT> inline float
219KL_Norm (FloatVectorT a, FloatVectorT b, int dim)
220{
221 float norm = 0.0;
222
223 for (int i = 0; i < dim; ++i)
224 if ( (b[i] != 0) && ((a[i] / b[i]) > 0) )
225 norm += a[i] * std::log (a[i] / b[i]);
226 else
227 norm += 0;
228 return norm;
229}
230
231
232template <typename FloatVectorT> inline float
233HIK_Norm(FloatVectorT a, FloatVectorT b, int dim)
234{
235 float norm = 0.0f;
236 for (int i = 0; i < dim; ++i)
237 norm += (std::min)(a[i], b[i]);
238 return norm;
239}
240
241} // namespace pcl
242
float selectNorm(FloatVectorT a, FloatVectorT b, int dim, NormType norm_type)
Method that calculates any norm type available, based on the norm_type variable.
Definition norms.hpp:50
float B_Norm(FloatVectorT a, FloatVectorT b, int dim)
Compute the B norm of the vector between two points.
Definition norms.hpp:140
float KL_Norm(FloatVectorT a, FloatVectorT b, int dim)
Compute the KL between two discrete probability density functions.
Definition norms.hpp:219
float JM_Norm(FloatVectorT a, FloatVectorT b, int dim)
Compute the JM norm of the vector between two points.
Definition norms.hpp:128
float K_Norm(FloatVectorT a, FloatVectorT b, int dim, float P1, float P2)
Compute the K norm of the vector between two points.
Definition norms.hpp:208
float L1_Norm(FloatVectorT a, FloatVectorT b, int dim)
Compute the L1 norm of the vector between two points.
Definition norms.hpp:88
float Linf_Norm(FloatVectorT a, FloatVectorT b, int dim)
Compute the L-infinity norm of the vector between two points.
Definition norms.hpp:118
float L2_Norm(FloatVectorT a, FloatVectorT b, int dim)
Compute the L2 norm of the vector between two points.
Definition norms.hpp:111
float CS_Norm(FloatVectorT a, FloatVectorT b, int dim)
Compute the CS norm of the vector between two points.
Definition norms.hpp:169
float HIK_Norm(FloatVectorT a, FloatVectorT b, int dim)
Compute the HIK norm of the vector between two points.
Definition norms.hpp:233
NormType
Enum that defines all the types of norms available.
Definition norms.h:54
float Sublinear_Norm(FloatVectorT a, FloatVectorT b, int dim)
Compute the sublinear norm of the vector between two points.
Definition norms.hpp:157
float Div_Norm(FloatVectorT a, FloatVectorT b, int dim)
Compute the div norm of the vector between two points.
Definition norms.hpp:183
float L2_Norm_SQR(FloatVectorT a, FloatVectorT b, int dim)
Compute the squared L2 norm of the vector between two points.
Definition norms.hpp:98
float PF_Norm(FloatVectorT a, FloatVectorT b, int dim, float P1, float P2)
Compute the PF norm of the vector between two points.
Definition norms.hpp:197
@ HIK
Definition norms.h:54
@ SUBLINEAR
Definition norms.h:54
@ PF
Definition norms.h:54
@ K
Definition norms.h:54
@ LINF
Definition norms.h:54
@ L2
Definition norms.h:54
@ DIV
Definition norms.h:54
@ KL
Definition norms.h:54
@ L2_SQR
Definition norms.h:54
@ B
Definition norms.h:54
@ L1
Definition norms.h:54
@ CS
Definition norms.h:54
@ JM
Definition norms.h:54
Define standard C methods to calculate different norms.
Defines all the PCL and non-PCL macros used.