SimpleRater.hpp

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#pragma once

#include "BaseRater.hpp"

namespace ISM {
class SimpleRater : public BaseRater
{
public:
    SimpleRater(double bin_size, double maxAngleDeviation) : BaseRater(bin_size, maxAngleDeviation){}

    //Methods are inlined for performance reasons.

    // No input checks at all since that method must run fast.
    virtual double rateAtBackProjectionLevel(VotedPosePtr& votedPose, RatingDataPtr data)
    {
      //Ugly but fast. And we need to be as fast as possible.
      data == nullptr;

      return votedPose->weight;
    }

  virtual void printRatingAtBackProjectionLevel(VotedPosePtr& votedPose, PosePtr& refPose, RatingDataPtr data)
    {

      if (data == nullptr)
        data = RatingDataPtr(new RatingData());

      double score;

      if(this->isVoteSupportingReference(votedPose, refPose, data))
        score = votedPose->weight;
      else
        score = 0.0;
 
      std::cout << "SimpleRater score=" << score
                << "\nNormalized score=" << score/votedPose->weightDenominator << " with denominator: " << votedPose->weightDenominator << std::endl;

      return;
    }

};
}