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<div id="projectname">RTAB-Map<span id="projectnumber"> 0.23.12</span>
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<div id="projectbrief">Real-Time Appearance-Based Mapping</div>
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<div class="headertitle"><div class="title">discrete_depth_distortion_model.h</div></div>
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<div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno"> 1</span><span class="comment">/*</span></div>
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<div class="line"><a id="l00002" name="l00002"></a><span class="lineno"> 2</span><span class="comment">Copyright (c) 2013, Alex Teichman and Stephen Miller (Stanford University)</span></div>
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<div class="line"><a id="l00003" name="l00003"></a><span class="lineno"> 3</span><span class="comment">All rights reserved.</span></div>
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<div class="line"><a id="l00004" name="l00004"></a><span class="lineno"> 4</span><span class="comment"></span> </div>
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<div class="line"><a id="l00005" name="l00005"></a><span class="lineno"> 5</span><span class="comment">Redistribution and use in source and binary forms, with or without</span></div>
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<div class="line"><a id="l00006" name="l00006"></a><span class="lineno"> 6</span><span class="comment">modification, are permitted provided that the following conditions are met:</span></div>
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<div class="line"><a id="l00007" name="l00007"></a><span class="lineno"> 7</span><span class="comment"> * Redistributions of source code must retain the above copyright</span></div>
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<div class="line"><a id="l00008" name="l00008"></a><span class="lineno"> 8</span><span class="comment"> notice, this list of conditions and the following disclaimer.</span></div>
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<div class="line"><a id="l00009" name="l00009"></a><span class="lineno"> 9</span><span class="comment"> * Redistributions in binary form must reproduce the above copyright</span></div>
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<div class="line"><a id="l00010" name="l00010"></a><span class="lineno"> 10</span><span class="comment"> notice, this list of conditions and the following disclaimer in the</span></div>
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<div class="line"><a id="l00011" name="l00011"></a><span class="lineno"> 11</span><span class="comment"> documentation and/or other materials provided with the distribution.</span></div>
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<div class="line"><a id="l00012" name="l00012"></a><span class="lineno"> 12</span><span class="comment"> * Neither the name of the <organization> nor the</span></div>
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<div class="line"><a id="l00013" name="l00013"></a><span class="lineno"> 13</span><span class="comment"> names of its contributors may be used to endorse or promote products</span></div>
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<div class="line"><a id="l00014" name="l00014"></a><span class="lineno"> 14</span><span class="comment"> derived from this software without specific prior written permission.</span></div>
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<div class="line"><a id="l00015" name="l00015"></a><span class="lineno"> 15</span><span class="comment"></span> </div>
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<div class="line"><a id="l00016" name="l00016"></a><span class="lineno"> 16</span><span class="comment">THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND</span></div>
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<div class="line"><a id="l00017" name="l00017"></a><span class="lineno"> 17</span><span class="comment">ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED</span></div>
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<div class="line"><a id="l00018" name="l00018"></a><span class="lineno"> 18</span><span class="comment">WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE</span></div>
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<div class="line"><a id="l00019" name="l00019"></a><span class="lineno"> 19</span><span class="comment">DISCLAIMED. IN NO EVENT SHALL <COPYRIGHT HOLDER> BE LIABLE FOR ANY</span></div>
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<div class="line"><a id="l00020" name="l00020"></a><span class="lineno"> 20</span><span class="comment">DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES</span></div>
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<div class="line"><a id="l00021" name="l00021"></a><span class="lineno"> 21</span><span class="comment">(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
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<div class="line"><a id="l00022" name="l00022"></a><span class="lineno"> 22</span><span class="comment">LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND</span></div>
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<div class="line"><a id="l00023" name="l00023"></a><span class="lineno"> 23</span><span class="comment">ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT</span></div>
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<div class="line"><a id="l00024" name="l00024"></a><span class="lineno"> 24</span><span class="comment">(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS</span></div>
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<div class="line"><a id="l00025" name="l00025"></a><span class="lineno"> 25</span><span class="comment">SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.</span></div>
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<div class="line"><a id="l00026" name="l00026"></a><span class="lineno"> 26</span><span class="comment"></span> </div>
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<div class="line"><a id="l00027" name="l00027"></a><span class="lineno"> 27</span><span class="comment">RTAB-Map integration: Mathieu Labbe</span></div>
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<div class="line"><a id="l00028" name="l00028"></a><span class="lineno"> 28</span><span class="comment">*/</span></div>
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<div class="line"><a id="l00029" name="l00029"></a><span class="lineno"> 29</span> </div>
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<div class="line"><a id="l00030" name="l00030"></a><span class="lineno"> 30</span><span class="preprocessor">#ifndef DISCRETE_DEPTH_DISTORTION_MODEL_H</span></div>
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<div class="line"><a id="l00031" name="l00031"></a><span class="lineno"> 31</span><span class="preprocessor">#define DISCRETE_DEPTH_DISTORTION_MODEL_H</span></div>
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<div class="line"><a id="l00032" name="l00032"></a><span class="lineno"> 32</span> </div>
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<div class="line"><a id="l00033" name="l00033"></a><span class="lineno"> 33</span><span class="preprocessor">#include <assert.h></span></div>
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<div class="line"><a id="l00034" name="l00034"></a><span class="lineno"> 34</span><span class="preprocessor">#include <vector></span></div>
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<div class="line"><a id="l00035" name="l00035"></a><span class="lineno"> 35</span><span class="preprocessor">#include <set></span></div>
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<div class="line"><a id="l00036" name="l00036"></a><span class="lineno"> 36</span><span class="preprocessor">#include <Eigen/Core></span></div>
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<div class="line"><a id="l00037" name="l00037"></a><span class="lineno"> 37</span><span class="preprocessor">#include <opencv2/opencv.hpp></span></div>
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<div class="line"><a id="l00038" name="l00038"></a><span class="lineno"> 38</span><span class="preprocessor">#include <rtabmap/utilite/UMutex.h></span></div>
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<div class="line"><a id="l00039" name="l00039"></a><span class="lineno"> 39</span><span class="preprocessor">#include "rtabmap/core/rtabmap_core_export.h"</span> <span class="comment">// DLL export/import defines</span></div>
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<div class="line"><a id="l00040" name="l00040"></a><span class="lineno"> 40</span> </div>
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<div class="line"><a id="l00041" name="l00041"></a><span class="lineno"> 41</span><span class="keyword">namespace </span>clams</div>
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<div class="line"><a id="l00042" name="l00042"></a><span class="lineno"> 42</span>{</div>
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<div class="foldopen" id="foldopen00043" data-start="{" data-end="};">
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<div class="line"><a id="l00043" name="l00043"></a><span class="lineno"><a class="line" href="classclams_1_1DiscreteFrustum.html"> 43</a></span> <span class="keyword">class </span>RTABMAP_CORE_EXPORT <a class="code hl_class" href="classclams_1_1DiscreteFrustum.html">DiscreteFrustum</a></div>
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<div class="line"><a id="l00044" name="l00044"></a><span class="lineno"> 44</span> {</div>
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<div class="line"><a id="l00045" name="l00045"></a><span class="lineno"> 45</span> <span class="keyword">public</span>:</div>
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<div class="line"><a id="l00046" name="l00046"></a><span class="lineno"> 46</span> <a class="code hl_class" href="classclams_1_1DiscreteFrustum.html">DiscreteFrustum</a>(<span class="keywordtype">int</span> smoothing = 1, <span class="keywordtype">double</span> bin_depth = 1.0, <span class="keywordtype">double</span> max_dist = 10.0);</div>
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<div class="line"><a id="l00049" name="l00049"></a><span class="lineno"><a class="line" href="classclams_1_1DiscreteFrustum.html#aef183fc7d90c0a6ba3245bccf9fbb616"> 49</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classclams_1_1DiscreteFrustum.html#aef183fc7d90c0a6ba3245bccf9fbb616">addExample</a>(<span class="keywordtype">double</span> ground_truth, <span class="keywordtype">double</span> measurement);</div>
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<div class="line"><a id="l00050" name="l00050"></a><span class="lineno"> 50</span> <span class="keywordtype">int</span> index(<span class="keywordtype">double</span> z) <span class="keyword">const</span>;</div>
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<div class="line"><a id="l00051" name="l00051"></a><span class="lineno"> 51</span> <span class="keywordtype">void</span> undistort(<span class="keywordtype">double</span>* z) <span class="keyword">const</span>;</div>
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<div class="line"><a id="l00052" name="l00052"></a><span class="lineno"> 52</span> <span class="keywordtype">void</span> interpolatedUndistort(<span class="keywordtype">double</span>* z) <span class="keyword">const</span>;</div>
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<div class="line"><a id="l00053" name="l00053"></a><span class="lineno"> 53</span> <span class="keywordtype">void</span> serialize(std::ostream& out, <span class="keywordtype">bool</span> ascii) <span class="keyword">const</span>;</div>
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<div class="line"><a id="l00054" name="l00054"></a><span class="lineno"> 54</span> <span class="keywordtype">void</span> deserialize(std::istream& in, <span class="keywordtype">bool</span> ascii);</div>
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<div class="line"><a id="l00055" name="l00055"></a><span class="lineno"> 55</span> </div>
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<div class="line"><a id="l00056" name="l00056"></a><span class="lineno"> 56</span> <span class="keyword">protected</span>:</div>
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<div class="line"><a id="l00057" name="l00057"></a><span class="lineno"> 57</span> <span class="keywordtype">double</span> max_dist_;</div>
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<div class="line"><a id="l00058" name="l00058"></a><span class="lineno"> 58</span> <span class="keywordtype">int</span> num_bins_;</div>
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<div class="line"><a id="l00059" name="l00059"></a><span class="lineno"> 59</span> <span class="keywordtype">double</span> bin_depth_;</div>
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<div class="line"><a id="l00060" name="l00060"></a><span class="lineno"> 60</span> Eigen::VectorXf counts_;</div>
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<div class="line"><a id="l00061" name="l00061"></a><span class="lineno"> 61</span> Eigen::VectorXf total_numerators_;</div>
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<div class="line"><a id="l00062" name="l00062"></a><span class="lineno"> 62</span> Eigen::VectorXf total_denominators_;</div>
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<div class="line"><a id="l00063" name="l00063"></a><span class="lineno"> 63</span> Eigen::VectorXf multipliers_;</div>
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<div class="line"><a id="l00064" name="l00064"></a><span class="lineno"> 64</span> </div>
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<div class="line"><a id="l00065" name="l00065"></a><span class="lineno"> 65</span> <span class="keyword">friend</span> <span class="keyword">class </span><a class="code hl_class" href="classclams_1_1DiscreteDepthDistortionModel.html">DiscreteDepthDistortionModel</a>;</div>
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<div class="line"><a id="l00066" name="l00066"></a><span class="lineno"> 66</span> };</div>
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</div>
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<div class="line"><a id="l00067" name="l00067"></a><span class="lineno"> 67</span> </div>
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<div class="foldopen" id="foldopen00068" data-start="{" data-end="};">
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<div class="line"><a id="l00068" name="l00068"></a><span class="lineno"><a class="line" href="classclams_1_1DiscreteDepthDistortionModel.html"> 68</a></span> <span class="keyword">class </span>RTABMAP_CORE_EXPORT <a class="code hl_class" href="classclams_1_1DiscreteDepthDistortionModel.html">DiscreteDepthDistortionModel</a></div>
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<div class="line"><a id="l00069" name="l00069"></a><span class="lineno"> 69</span> {</div>
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<div class="line"><a id="l00070" name="l00070"></a><span class="lineno"> 70</span> <span class="keyword">public</span>:</div>
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<div class="line"><a id="l00071" name="l00071"></a><span class="lineno"> 71</span> <span class="comment">// returns all divisors of num</span></div>
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<div class="line"><a id="l00072" name="l00072"></a><span class="lineno"> 72</span> <span class="keyword">static</span> std::set<size_t> getDivisors(<span class="keyword">const</span> <span class="keywordtype">size_t</span> &num);</div>
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<div class="line"><a id="l00073" name="l00073"></a><span class="lineno"> 73</span> </div>
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<div class="line"><a id="l00074" name="l00074"></a><span class="lineno"> 74</span> <span class="comment">// returns divisor from divisors closest to ref</span></div>
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<div class="line"><a id="l00075" name="l00075"></a><span class="lineno"> 75</span> <span class="keyword">static</span> <span class="keywordtype">size_t</span> getClosestToRef(<span class="keyword">const</span> std::set<size_t> &divisors, <span class="keyword">const</span> <span class="keywordtype">double</span> &ref);</div>
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<div class="line"><a id="l00076" name="l00076"></a><span class="lineno"> 76</span> </div>
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<div class="line"><a id="l00077" name="l00077"></a><span class="lineno"> 77</span> <span class="comment">// sets bin_width and bin_height to appropriate values</span></div>
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<div class="line"><a id="l00078" name="l00078"></a><span class="lineno"> 78</span> <span class="keyword">static</span> <span class="keywordtype">void</span> getBinSize(<span class="keyword">const</span> <span class="keywordtype">size_t</span> &width, <span class="keyword">const</span> <span class="keywordtype">size_t</span> &height, <span class="keywordtype">size_t</span> &bin_width, <span class="keywordtype">size_t</span> &bin_height);</div>
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<div class="line"><a id="l00079" name="l00079"></a><span class="lineno"> 79</span> </div>
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<div class="line"><a id="l00080" name="l00080"></a><span class="lineno"> 80</span> <span class="keyword">public</span>:</div>
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<div class="line"><a id="l00081" name="l00081"></a><span class="lineno"> 81</span> <a class="code hl_class" href="classclams_1_1DiscreteDepthDistortionModel.html">DiscreteDepthDistortionModel</a>() :</div>
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<div class="line"><a id="l00082" name="l00082"></a><span class="lineno"> 82</span> width_(0),</div>
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<div class="line"><a id="l00083" name="l00083"></a><span class="lineno"> 83</span> height_(0),</div>
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<div class="line"><a id="l00084" name="l00084"></a><span class="lineno"> 84</span> bin_width_(0),</div>
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<div class="line"><a id="l00085" name="l00085"></a><span class="lineno"> 85</span> bin_height_(0),</div>
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<div class="line"><a id="l00086" name="l00086"></a><span class="lineno"> 86</span> bin_depth_(0),</div>
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<div class="line"><a id="l00087" name="l00087"></a><span class="lineno"> 87</span> num_bins_x_(0),</div>
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<div class="line"><a id="l00088" name="l00088"></a><span class="lineno"> 88</span> num_bins_y_(0),</div>
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<div class="line"><a id="l00089" name="l00089"></a><span class="lineno"> 89</span> training_samples_(0)</div>
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<div class="line"><a id="l00090" name="l00090"></a><span class="lineno"> 90</span> {}</div>
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<div class="line"><a id="l00091" name="l00091"></a><span class="lineno"> 91</span> <span class="keyword">virtual</span> <a class="code hl_class" href="classclams_1_1DiscreteDepthDistortionModel.html">~DiscreteDepthDistortionModel</a>();</div>
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<div class="line"><a id="l00092" name="l00092"></a><span class="lineno"> 92</span> <a class="code hl_class" href="classclams_1_1DiscreteDepthDistortionModel.html">DiscreteDepthDistortionModel</a>(<span class="keywordtype">int</span> width, <span class="keywordtype">int</span> height, <span class="keywordtype">int</span> bin_width = 8, <span class="keywordtype">int</span> bin_height = 6, <span class="keywordtype">double</span> bin_depth = 2.0, <span class="keywordtype">int</span> smoothing = 1, <span class="keywordtype">double</span> max_depth = 10.0);</div>
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<div class="line"><a id="l00093" name="l00093"></a><span class="lineno"> 93</span> <a class="code hl_class" href="classclams_1_1DiscreteDepthDistortionModel.html">DiscreteDepthDistortionModel</a>(<span class="keyword">const</span> <a class="code hl_class" href="classclams_1_1DiscreteDepthDistortionModel.html">DiscreteDepthDistortionModel</a>& other);</div>
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<div class="line"><a id="l00094" name="l00094"></a><span class="lineno"> 94</span> <a class="code hl_class" href="classclams_1_1DiscreteDepthDistortionModel.html">DiscreteDepthDistortionModel</a>& operator=(<span class="keyword">const</span> <a class="code hl_class" href="classclams_1_1DiscreteDepthDistortionModel.html">DiscreteDepthDistortionModel</a>& other);</div>
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<div class="line"><a id="l00095" name="l00095"></a><span class="lineno"> 95</span> <span class="keywordtype">void</span> undistort(cv::Mat & depth) <span class="keyword">const</span>;</div>
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<div class="line"><a id="l00098" name="l00098"></a><span class="lineno"><a class="line" href="classclams_1_1DiscreteDepthDistortionModel.html#ab9b7555fbf710706d7b94dfcb9ed6399"> 98</a></span> <span class="keywordtype">size_t</span> <a class="code hl_function" href="classclams_1_1DiscreteDepthDistortionModel.html#ab9b7555fbf710706d7b94dfcb9ed6399">accumulate</a>(<span class="keyword">const</span> cv::Mat& ground_truth, <span class="keyword">const</span> cv::Mat& measurement);</div>
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<div class="line"><a id="l00099" name="l00099"></a><span class="lineno"> 99</span> <span class="keywordtype">void</span> addExample(<span class="keywordtype">int</span> v, <span class="keywordtype">int</span> u, <span class="keywordtype">double</span> ground_truth, <span class="keywordtype">double</span> measurement);</div>
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<div class="line"><a id="l00100" name="l00100"></a><span class="lineno"> 100</span> <span class="keywordtype">void</span> save(<span class="keyword">const</span> std::string& path) <span class="keyword">const</span>;</div>
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<div class="line"><a id="l00101" name="l00101"></a><span class="lineno"> 101</span> <span class="keywordtype">void</span> load(<span class="keyword">const</span> std::string& path);</div>
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<div class="line"><a id="l00102" name="l00102"></a><span class="lineno"> 102</span> <span class="keywordtype">void</span> serialize(std::ostream& out, <span class="keywordtype">bool</span> ascii) <span class="keyword">const</span>;</div>
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<div class="line"><a id="l00103" name="l00103"></a><span class="lineno"> 103</span> <span class="keywordtype">void</span> deserialize(std::istream& in, <span class="keywordtype">bool</span> ascii);</div>
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<div class="line"><a id="l00104" name="l00104"></a><span class="lineno"> 104</span> cv::Mat visualize(<span class="keyword">const</span> std::string& path = <span class="stringliteral">""</span>) <span class="keyword">const</span>;</div>
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<div class="line"><a id="l00105" name="l00105"></a><span class="lineno"> 105</span> </div>
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<div class="line"><a id="l00106" name="l00106"></a><span class="lineno"> 106</span> <span class="keywordtype">int</span> getWidth()<span class="keyword"> const </span>{<span class="keywordflow">return</span> width_;}</div>
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<div class="line"><a id="l00107" name="l00107"></a><span class="lineno"> 107</span> <span class="keywordtype">int</span> getHeight()<span class="keyword"> const </span>{<span class="keywordflow">return</span> height_;}</div>
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<div class="line"><a id="l00108" name="l00108"></a><span class="lineno"> 108</span> <span class="keywordtype">size_t</span> getTrainingSamples()<span class="keyword"> const </span>{<span class="keywordflow">return</span> training_samples_;}</div>
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<div class="line"><a id="l00109" name="l00109"></a><span class="lineno"> 109</span> <span class="keywordtype">bool</span> isValid()<span class="keyword"> const</span></div>
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<div class="line"><a id="l00110" name="l00110"></a><span class="lineno"> 110</span><span class="keyword"> </span>{</div>
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<div class="line"><a id="l00111" name="l00111"></a><span class="lineno"> 111</span> <span class="keywordflow">return</span> !frustums_.empty();</div>
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<div class="line"><a id="l00112" name="l00112"></a><span class="lineno"> 112</span> }</div>
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<div class="line"><a id="l00113" name="l00113"></a><span class="lineno"> 113</span> </div>
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<div class="line"><a id="l00114" name="l00114"></a><span class="lineno"> 114</span> <span class="keyword">protected</span>:</div>
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<div class="line"><a id="l00116" name="l00116"></a><span class="lineno"><a class="line" href="classclams_1_1DiscreteDepthDistortionModel.html#a7de0c7b8a5db34270645b6454f74392c"> 116</a></span> <span class="keywordtype">int</span> <a class="code hl_variable" href="classclams_1_1DiscreteDepthDistortionModel.html#a7de0c7b8a5db34270645b6454f74392c">width_</a>;</div>
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<div class="line"><a id="l00118" name="l00118"></a><span class="lineno"><a class="line" href="classclams_1_1DiscreteDepthDistortionModel.html#aa1b8d43b1fa2120bd4b711468d9457b1"> 118</a></span> <span class="keywordtype">int</span> <a class="code hl_variable" href="classclams_1_1DiscreteDepthDistortionModel.html#aa1b8d43b1fa2120bd4b711468d9457b1">height_</a>;</div>
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<div class="line"><a id="l00120" name="l00120"></a><span class="lineno"><a class="line" href="classclams_1_1DiscreteDepthDistortionModel.html#acbc26d0d0feddc1a7f27eca81b39dd20"> 120</a></span> <span class="keywordtype">int</span> <a class="code hl_variable" href="classclams_1_1DiscreteDepthDistortionModel.html#acbc26d0d0feddc1a7f27eca81b39dd20">bin_width_</a>;</div>
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<div class="line"><a id="l00122" name="l00122"></a><span class="lineno"><a class="line" href="classclams_1_1DiscreteDepthDistortionModel.html#ae74671d8a3dd71c5fa3f3b44d163ba0c"> 122</a></span> <span class="keywordtype">int</span> <a class="code hl_variable" href="classclams_1_1DiscreteDepthDistortionModel.html#ae74671d8a3dd71c5fa3f3b44d163ba0c">bin_height_</a>;</div>
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<div class="line"><a id="l00124" name="l00124"></a><span class="lineno"><a class="line" href="classclams_1_1DiscreteDepthDistortionModel.html#a1bd63eed7f9ca2759dcf4975b4f2f951"> 124</a></span> <span class="keywordtype">double</span> <a class="code hl_variable" href="classclams_1_1DiscreteDepthDistortionModel.html#a1bd63eed7f9ca2759dcf4975b4f2f951">bin_depth_</a>;</div>
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<div class="line"><a id="l00125" name="l00125"></a><span class="lineno"> 125</span> <span class="keywordtype">int</span> num_bins_x_;</div>
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<div class="line"><a id="l00126" name="l00126"></a><span class="lineno"> 126</span> <span class="keywordtype">int</span> num_bins_y_;</div>
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<div class="line"><a id="l00128" name="l00128"></a><span class="lineno"><a class="line" href="classclams_1_1DiscreteDepthDistortionModel.html#a21e2cb0d6cb694629231405ca67f00a1"> 128</a></span> std::vector< std::vector<DiscreteFrustum*> > <a class="code hl_variable" href="classclams_1_1DiscreteDepthDistortionModel.html#a21e2cb0d6cb694629231405ca67f00a1">frustums_</a>;</div>
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<div class="line"><a id="l00129" name="l00129"></a><span class="lineno"> 129</span> </div>
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<div class="line"><a id="l00130" name="l00130"></a><span class="lineno"> 130</span> <span class="keywordtype">size_t</span> training_samples_;</div>
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<div class="line"><a id="l00131" name="l00131"></a><span class="lineno"> 131</span> </div>
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<div class="line"><a id="l00132" name="l00132"></a><span class="lineno"> 132</span> <span class="keywordtype">void</span> deleteFrustums();</div>
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<div class="line"><a id="l00133" name="l00133"></a><span class="lineno"> 133</span> <a class="code hl_class" href="classclams_1_1DiscreteFrustum.html">DiscreteFrustum</a>& frustum(<span class="keywordtype">int</span> y, <span class="keywordtype">int</span> x);</div>
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<div class="line"><a id="l00134" name="l00134"></a><span class="lineno"> 134</span> <span class="keyword">const</span> <a class="code hl_class" href="classclams_1_1DiscreteFrustum.html">DiscreteFrustum</a>& frustum(<span class="keywordtype">int</span> y, <span class="keywordtype">int</span> x) <span class="keyword">const</span>;</div>
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<div class="line"><a id="l00135" name="l00135"></a><span class="lineno"> 135</span> </div>
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<div class="line"><a id="l00136" name="l00136"></a><span class="lineno"> 136</span> <a class="code hl_class" href="classUMutex.html">UMutex</a> mutex_;</div>
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<div class="line"><a id="l00137" name="l00137"></a><span class="lineno"> 137</span> };</div>
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</div>
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<div class="line"><a id="l00138" name="l00138"></a><span class="lineno"> 138</span> </div>
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<div class="line"><a id="l00139" name="l00139"></a><span class="lineno"> 139</span>} <span class="comment">// namespace clams</span></div>
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<div class="line"><a id="l00140" name="l00140"></a><span class="lineno"> 140</span> </div>
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<div class="line"><a id="l00141" name="l00141"></a><span class="lineno"> 141</span><span class="preprocessor">#endif </span><span class="comment">// DISCRETE_DEPTH_DISTORTION_MODEL_H</span></div>
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<div class="ttc" id="aclassUMutex_html"><div class="ttname"><a href="classUMutex.html">UMutex</a></div><div class="ttdef"><b>Definition</b> <a href="UMutex_8h_source.html#l00054">UMutex.h:55</a></div></div>
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<div class="ttc" id="aclassclams_1_1DiscreteDepthDistortionModel_html"><div class="ttname"><a href="classclams_1_1DiscreteDepthDistortionModel.html">clams::DiscreteDepthDistortionModel</a></div><div class="ttdef"><b>Definition</b> <a href="discrete__depth__distortion__model_8h_source.html#l00068">discrete_depth_distortion_model.h:69</a></div></div>
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<div class="ttc" id="aclassclams_1_1DiscreteDepthDistortionModel_html_a1bd63eed7f9ca2759dcf4975b4f2f951"><div class="ttname"><a href="classclams_1_1DiscreteDepthDistortionModel.html#a1bd63eed7f9ca2759dcf4975b4f2f951">clams::DiscreteDepthDistortionModel::bin_depth_</a></div><div class="ttdeci">double bin_depth_</div><div class="ttdoc">Depth of each bin in meters.</div><div class="ttdef"><b>Definition</b> <a href="discrete__depth__distortion__model_8h_source.html#l00124">discrete_depth_distortion_model.h:124</a></div></div>
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<div class="ttc" id="aclassclams_1_1DiscreteDepthDistortionModel_html_a21e2cb0d6cb694629231405ca67f00a1"><div class="ttname"><a href="classclams_1_1DiscreteDepthDistortionModel.html#a21e2cb0d6cb694629231405ca67f00a1">clams::DiscreteDepthDistortionModel::frustums_</a></div><div class="ttdeci">std::vector< std::vector< DiscreteFrustum * > > frustums_</div><div class="ttdoc">frustums_[y][x]</div><div class="ttdef"><b>Definition</b> <a href="discrete__depth__distortion__model_8h_source.html#l00128">discrete_depth_distortion_model.h:128</a></div></div>
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<div class="ttc" id="aclassclams_1_1DiscreteDepthDistortionModel_html_a7de0c7b8a5db34270645b6454f74392c"><div class="ttname"><a href="classclams_1_1DiscreteDepthDistortionModel.html#a7de0c7b8a5db34270645b6454f74392c">clams::DiscreteDepthDistortionModel::width_</a></div><div class="ttdeci">int width_</div><div class="ttdoc">Image width.</div><div class="ttdef"><b>Definition</b> <a href="discrete__depth__distortion__model_8h_source.html#l00116">discrete_depth_distortion_model.h:116</a></div></div>
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<div class="ttc" id="aclassclams_1_1DiscreteDepthDistortionModel_html_aa1b8d43b1fa2120bd4b711468d9457b1"><div class="ttname"><a href="classclams_1_1DiscreteDepthDistortionModel.html#aa1b8d43b1fa2120bd4b711468d9457b1">clams::DiscreteDepthDistortionModel::height_</a></div><div class="ttdeci">int height_</div><div class="ttdoc">Image height.</div><div class="ttdef"><b>Definition</b> <a href="discrete__depth__distortion__model_8h_source.html#l00118">discrete_depth_distortion_model.h:118</a></div></div>
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<div class="ttc" id="aclassclams_1_1DiscreteDepthDistortionModel_html_ab9b7555fbf710706d7b94dfcb9ed6399"><div class="ttname"><a href="classclams_1_1DiscreteDepthDistortionModel.html#ab9b7555fbf710706d7b94dfcb9ed6399">clams::DiscreteDepthDistortionModel::accumulate</a></div><div class="ttdeci">size_t accumulate(const cv::Mat &ground_truth, const cv::Mat &measurement)</div></div>
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<div class="ttc" id="aclassclams_1_1DiscreteDepthDistortionModel_html_acbc26d0d0feddc1a7f27eca81b39dd20"><div class="ttname"><a href="classclams_1_1DiscreteDepthDistortionModel.html#acbc26d0d0feddc1a7f27eca81b39dd20">clams::DiscreteDepthDistortionModel::bin_width_</a></div><div class="ttdeci">int bin_width_</div><div class="ttdoc">Width of each bin in pixels.</div><div class="ttdef"><b>Definition</b> <a href="discrete__depth__distortion__model_8h_source.html#l00120">discrete_depth_distortion_model.h:120</a></div></div>
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<div class="ttc" id="aclassclams_1_1DiscreteDepthDistortionModel_html_ae74671d8a3dd71c5fa3f3b44d163ba0c"><div class="ttname"><a href="classclams_1_1DiscreteDepthDistortionModel.html#ae74671d8a3dd71c5fa3f3b44d163ba0c">clams::DiscreteDepthDistortionModel::bin_height_</a></div><div class="ttdeci">int bin_height_</div><div class="ttdoc">Height of each bin in pixels.</div><div class="ttdef"><b>Definition</b> <a href="discrete__depth__distortion__model_8h_source.html#l00122">discrete_depth_distortion_model.h:122</a></div></div>
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<div class="ttc" id="aclassclams_1_1DiscreteFrustum_html"><div class="ttname"><a href="classclams_1_1DiscreteFrustum.html">clams::DiscreteFrustum</a></div><div class="ttdef"><b>Definition</b> <a href="discrete__depth__distortion__model_8h_source.html#l00043">discrete_depth_distortion_model.h:44</a></div></div>
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<div class="ttc" id="aclassclams_1_1DiscreteFrustum_html_aef183fc7d90c0a6ba3245bccf9fbb616"><div class="ttname"><a href="classclams_1_1DiscreteFrustum.html#aef183fc7d90c0a6ba3245bccf9fbb616">clams::DiscreteFrustum::addExample</a></div><div class="ttdeci">void addExample(double ground_truth, double measurement)</div></div>
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