1 /* 2 * Software License Agreement (BSD License) 3 * 4 * Point Cloud Library (PCL) - www.pointclouds.org 5 * Copyright (c) 2010, Willow Garage, Inc. 6 * Copyright (c) 2012-, Open Perception, Inc. 7 * 8 * All rights reserved. 9 * 10 * Redistribution and use in source and binary forms, with or without 11 * modification, are permitted provided that the following conditions 12 * are met: 13 * 14 * * Redistributions of source code must retain the above copyright 15 * notice, this list of conditions and the following disclaimer. 16 * * Redistributions in binary form must reproduce the above 17 * copyright notice, this list of conditions and the following 18 * disclaimer in the documentation and/or other materials provided 19 * with the distribution. 20 * * Neither the name of the copyright holder(s) nor the names of its 21 * contributors may be used to endorse or promote products derived 22 * from this software without specific prior written permission. 23 * 24 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 25 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 26 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 27 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 28 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 29 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 30 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 31 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 32 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 33 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 34 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 35 * POSSIBILITY OF SUCH DAMAGE. 36 * 37 */ 38 39 #pragma once 40 41 /** 42 * \file norms.h 43 * Define standard C methods to calculate different norms 44 * \ingroup common 45 */ 46 47 /*@{*/ 48 namespace pcl 49 { 50 /** \brief Enum that defines all the types of norms available. 51 * \note Any new norm type should have its own enum value and its own case in the selectNorm () method 52 * \ingroup common 53 */ 54 enum NormType {L1, L2_SQR, L2, LINF, JM, B, SUBLINEAR, CS, DIV, PF, K, KL, HIK}; 55 56 /** \brief Method that calculates any norm type available, based on the norm_type variable 57 * \note FloatVectorT is any type of vector with its values accessible via [ ] 58 * \ingroup common 59 * */ 60 template <typename FloatVectorT> inline float 61 selectNorm (FloatVectorT A, FloatVectorT B, int dim, NormType norm_type); 62 63 /** \brief Compute the L1 norm of the vector between two points 64 * \param A the first point 65 * \param B the second point 66 * \param dim the number of dimensions in \a A and \a B (dimensions must match) 67 * \note FloatVectorT is any type of vector with its values accessible via [ ] 68 * \ingroup common 69 */ 70 template <typename FloatVectorT> inline float 71 L1_Norm (FloatVectorT A, FloatVectorT B, int dim); 72 73 /** \brief Compute the squared L2 norm of the vector between two points 74 * \param A the first point 75 * \param B the second point 76 * \param dim the number of dimensions in \a A and \a B (dimensions must match) 77 * \note FloatVectorT is any type of vector with its values accessible via [ ] 78 * \ingroup common 79 */ 80 template <typename FloatVectorT> inline float 81 L2_Norm_SQR (FloatVectorT A, FloatVectorT B, int dim); 82 83 /** \brief Compute the L2 norm of the vector between two points 84 * \param A the first point 85 * \param B the second point 86 * \param dim the number of dimensions in \a A and \a B (dimensions must match) 87 * \note FloatVectorT is any type of vector with its values accessible via [ ] 88 * \ingroup common 89 */ 90 template <typename FloatVectorT> inline float 91 L2_Norm (FloatVectorT A, FloatVectorT B, int dim); 92 93 /** \brief Compute the L-infinity norm of the vector between two points 94 * \param A the first point 95 * \param B the second point 96 * \param dim the number of dimensions in \a A and \a B (dimensions must match) 97 * \note FloatVectorT is any type of vector with its values accessible via [ ] 98 * \ingroup common 99 */ 100 template <typename FloatVectorT> inline float 101 Linf_Norm (FloatVectorT A, FloatVectorT B, int dim); 102 103 /** \brief Compute the JM norm of the vector between two points 104 * \param A the first point 105 * \param B the second point 106 * \param dim the number of dimensions in \a A and \a B (dimensions must match) 107 * \note FloatVectorT is any type of vector with its values accessible via [ ] 108 * \ingroup common 109 */ 110 template <typename FloatVectorT> inline float 111 JM_Norm (FloatVectorT A, FloatVectorT B, int dim); 112 113 /** \brief Compute the B norm of the vector between two points 114 * \param A the first point 115 * \param B the second point 116 * \param dim the number of dimensions in \a A and \a B (dimensions must match) 117 * \note FloatVectorT is any type of vector with its values accessible via [ ] 118 * \ingroup common 119 */ 120 template <typename FloatVectorT> inline float 121 B_Norm (FloatVectorT A, FloatVectorT B, int dim); 122 123 /** \brief Compute the sublinear norm of the vector between two points 124 * \param A the first point 125 * \param B the second point 126 * \param dim the number of dimensions in \a A and \a B (dimensions must match) 127 * \note FloatVectorT is any type of vector with its values accessible via [ ] 128 * \ingroup common 129 */ 130 template <typename FloatVectorT> inline float 131 Sublinear_Norm (FloatVectorT A, FloatVectorT B, int dim); 132 133 /** \brief Compute the CS norm of the vector between two points 134 * \param A the first point 135 * \param B the second point 136 * \param dim the number of dimensions in \a A and \a B (dimensions must match) 137 * \note FloatVectorT is any type of vector with its values accessible via [ ] 138 * \ingroup common 139 */ 140 template <typename FloatVectorT> inline float 141 CS_Norm (FloatVectorT A, FloatVectorT B, int dim); 142 143 /** \brief Compute the div norm of the vector between two points 144 * \param A the first point 145 * \param B the second point 146 * \param dim the number of dimensions in \a A and \a B (dimensions must match) 147 * \note FloatVectorT is any type of vector with its values accessible via [ ] 148 * \ingroup common 149 */ 150 template <typename FloatVectorT> inline float 151 Div_Norm (FloatVectorT A, FloatVectorT B, int dim); 152 153 /** \brief Compute the PF norm of the vector between two points 154 * \param A the first point 155 * \param B the second point 156 * \param dim the number of dimensions in \a A and \a B (dimensions must match) 157 * \param P1 the first parameter 158 * \param P2 the second parameter 159 * \note FloatVectorT is any type of vector with its values accessible via [ ] 160 * \ingroup common 161 */ 162 template <typename FloatVectorT> inline float 163 PF_Norm (FloatVectorT A, FloatVectorT B, int dim, float P1, float P2); 164 165 /** \brief Compute the K norm of the vector between two points 166 * \param A the first point 167 * \param B the second point 168 * \param dim the number of dimensions in \a A and \a B (dimensions must match) 169 * \param P1 the first parameter 170 * \param P2 the second parameter 171 * \note FloatVectorT is any type of vector with its values accessible via [ ] 172 * \ingroup common 173 */ 174 template <typename FloatVectorT> inline float 175 K_Norm (FloatVectorT A, FloatVectorT B, int dim, float P1, float P2); 176 177 /** \brief Compute the KL between two discrete probability density functions 178 * \param A the first discrete PDF 179 * \param B the second discrete PDF 180 * \param dim the number of dimensions in \a A and \a B (dimensions must match) 181 * \note FloatVectorT is any type of vector with its values accessible via [ ] 182 * \ingroup common 183 */ 184 template <typename FloatVectorT> inline float 185 KL_Norm (FloatVectorT A, FloatVectorT B, int dim); 186 187 /** \brief Compute the HIK norm of the vector between two points 188 * \param A the first point 189 * \param B the second point 190 * \param dim the number of dimensions in \a A and \a B (dimensions must match) 191 * \note FloatVectorT is any type of vector with its values accessible via [ ] 192 * \ingroup common 193 */ 194 template <typename FloatVectorT> inline float 195 HIK_Norm (FloatVectorT A, FloatVectorT B, int dim); 196 } 197 /*@}*/ 198 #include <pcl/common/impl/norms.hpp> 199