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////////////////////////////////////////////////////////////////////
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// LBA.h
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//
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// Copyright 2007 cDc@seacave
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// Distributed under the Boost Software License, Version 1.0
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// (See http://www.boost.org/LICENSE_1_0.txt)
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#ifndef __SEACAVE_LBA_H__
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#define __SEACAVE_LBA_H__
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// I N C L U D E S /////////////////////////////////////////////////
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// D E F I N E S ///////////////////////////////////////////////////
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// uncomment to enable multi-threading based on OpenMP
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#ifdef _USE_OPENMP
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#define LBP_USE_OPENMP
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#endif
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namespace SEACAVE {
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// S T R U C T S ///////////////////////////////////////////////////
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// basic implementation of the loopy belief propagation algorithm
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// based on a code originally written by Michael Waechter:
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// https://github.com/nmoehrle/mvs-texturing
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// Copyright(c) Michael Waechter
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// Licensed under the BSD 3-Clause license
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class MATH_API LBPInference
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{
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public:
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typedef unsigned NodeID;
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typedef unsigned LabelID;
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typedef unsigned EdgeID;
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typedef float EnergyType;
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struct DataCost {
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NodeID nodeID;
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EnergyType cost;
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};
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typedef EnergyType (STCALL *FncSmoothCost)(NodeID, NodeID, LabelID, LabelID);
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enum { MaxEnergy = 1000 };
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protected:
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struct DirectedEdge {
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NodeID nodeID1;
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NodeID nodeID2;
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std::vector<EnergyType> newMsgs;
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std::vector<EnergyType> oldMsgs;
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inline DirectedEdge(NodeID _nodeID1, NodeID _nodeID2) : nodeID1(_nodeID1), nodeID2(_nodeID2) {}
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};
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struct Node {
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LabelID label;
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EnergyType dataCost;
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std::vector<LabelID> labels;
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std::vector<EnergyType> dataCosts;
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std::vector<EdgeID> incomingEdges;
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inline Node() : label(0), dataCost(MaxEnergy) {}
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};
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std::vector<DirectedEdge> edges;
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std::vector<Node> nodes;
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FncSmoothCost fncSmoothCost;
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public:
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LBPInference() {}
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LBPInference(NodeID nNodes) : nodes(nNodes) {}
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inline void SetNumNodes(NodeID nNodes) {
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nodes.resize(nNodes);
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}
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inline NodeID GetNumNodes() const {
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return (NodeID)nodes.size();
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}
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inline void SetNeighbors(NodeID nodeID1, NodeID nodeID2) {
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nodes[nodeID2].incomingEdges.push_back((EdgeID)edges.size());
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edges.push_back(DirectedEdge(nodeID1, nodeID2));
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nodes[nodeID1].incomingEdges.push_back((EdgeID)edges.size());
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edges.push_back(DirectedEdge(nodeID2, nodeID1));
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}
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inline void SetDataCost(LabelID label, NodeID nodeID, EnergyType cost) {
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Node& node = nodes[nodeID];
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node.labels.push_back(label);
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const EnergyType dataCost(cost);
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node.dataCosts.push_back(dataCost);
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if (dataCost < node.dataCost) {
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node.label = label;
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node.dataCost = dataCost;
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}
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for (EdgeID edgeID: node.incomingEdges) {
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DirectedEdge& incomingEdge = edges[edgeID];
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incomingEdge.oldMsgs.push_back(0);
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incomingEdge.newMsgs.push_back(0);
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}
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}
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inline void SetDataCost(LabelID label, const DataCost& cost) {
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SetDataCost(label, cost.nodeID, cost.cost);
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}
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inline void SetDataCosts(LabelID label, const std::vector<DataCost>& costs) {
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for (const DataCost& cost: costs)
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SetDataCost(label, cost);
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}
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inline void SetSmoothCost(FncSmoothCost func) {
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fncSmoothCost = func;
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}
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EnergyType ComputeEnergy() const {
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EnergyType energy(0);
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#ifdef LBP_USE_OPENMP
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#pragma omp parallel for reduction(+:energy)
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#endif
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for (int_t nodeID = 0; nodeID < (int_t)nodes.size(); ++nodeID)
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energy += nodes[nodeID].dataCost;
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#ifdef LBP_USE_OPENMP
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#pragma omp parallel for reduction(+:energy)
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#endif
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for (int_t edgeID = 0; edgeID < (int_t)edges.size(); ++edgeID) {
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const DirectedEdge& edge = edges[edgeID];
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energy += fncSmoothCost(edge.nodeID1, edge.nodeID2, nodes[edge.nodeID1].label, nodes[edge.nodeID2].label);
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}
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return energy;
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}
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void Optimize(unsigned num_iterations) {
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for (unsigned i = 0; i < num_iterations; ++i) {
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#ifdef LBP_USE_OPENMP
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#pragma omp parallel for
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#endif
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for (int_t edgeID = 0; edgeID < (int_t)edges.size(); ++edgeID) {
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DirectedEdge& edge = edges[edgeID];
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const std::vector<LabelID>& labels1 = nodes[edge.nodeID1].labels;
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const std::vector<LabelID>& labels2 = nodes[edge.nodeID2].labels;
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for (size_t j = 0; j < labels2.size(); ++j) {
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const LabelID label2(labels2[j]);
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EnergyType minEnergy(std::numeric_limits<EnergyType>::max());
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for (size_t k = 0; k < labels1.size(); ++k) {
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const LabelID label1(labels1[k]);
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EnergyType energy(nodes[edge.nodeID1].dataCosts[k] + fncSmoothCost(edge.nodeID1, edge.nodeID2, label1, label2));
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const std::vector<EdgeID>& incoming_edges1 = nodes[edge.nodeID1].incomingEdges;
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for (size_t n = 0; n < incoming_edges1.size(); ++n) {
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const DirectedEdge& pre_edge = edges[incoming_edges1[n]];
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if (pre_edge.nodeID1 == edge.nodeID2) continue;
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energy += pre_edge.oldMsgs[k];
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}
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if (minEnergy > energy)
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minEnergy = energy;
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}
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edge.newMsgs[j] = minEnergy;
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}
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}
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#ifdef LBP_USE_OPENMP
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#pragma omp parallel for
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#endif
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for (int_t edgeID = 0; edgeID < (int_t)edges.size(); ++edgeID) {
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DirectedEdge& edge = edges[edgeID];
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edge.newMsgs.swap(edge.oldMsgs);
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EnergyType minMsg(std::numeric_limits<EnergyType>::max());
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for (EnergyType msg: edge.oldMsgs)
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if (minMsg > msg)
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minMsg = msg;
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for (EnergyType& msg: edge.oldMsgs)
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msg -= minMsg;
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}
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}
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#ifdef LBP_USE_OPENMP
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#pragma omp parallel for
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#endif
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for (int_t nodeID = 0; nodeID < (int_t)nodes.size(); ++nodeID) {
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Node& node = nodes[nodeID];
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EnergyType minEnergy(std::numeric_limits<EnergyType>::max());
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for (size_t j = 0; j < node.labels.size(); ++j) {
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EnergyType energy(node.dataCosts[j]);
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for (EdgeID incoming_edge_idx : node.incomingEdges)
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energy += edges[incoming_edge_idx].oldMsgs[j];
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if (energy < minEnergy) {
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minEnergy = energy;
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node.label = node.labels[j];
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node.dataCost = node.dataCosts[j];
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}
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}
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}
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}
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EnergyType Optimize() {
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TD_TIMER_STARTD();
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EnergyType energy(ComputeEnergy());
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EnergyType diff(energy);
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unsigned i(0);
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#if 1
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unsigned nIncreases(0), nTotalIncreases(0);
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#endif
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while (true) {
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TD_TIMER_STARTD();
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const EnergyType last_energy(energy);
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Optimize(1);
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energy = ComputeEnergy();
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diff = last_energy - energy;
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DEBUG_ULTIMATE("\t%2u. e: %g\td: %g\tt: %s", i, last_energy, diff, TD_TIMER_GET_FMT().c_str());
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if (++i > 100 || diff == EnergyType(0))
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break;
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#if 1
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if (diff < EnergyType(0)) {
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++nTotalIncreases;
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if (++nIncreases > 3)
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break;
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} else {
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if (nTotalIncreases > 5)
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break;
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nIncreases = 0;
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}
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#else
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if (diff < EnergyType(0))
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break;
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#endif
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}
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if (diff == EnergyType(0)) {
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DEBUG_ULTIMATE("Inference converged in %u iterations: %g energy (%s)", i, energy, TD_TIMER_GET_FMT().c_str());
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} else {
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DEBUG_ULTIMATE("Inference aborted (energy increased): %u iterations, %g energy (%s)", i, energy, TD_TIMER_GET_FMT().c_str());
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}
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return energy;
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}
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inline LabelID GetLabel(NodeID nodeID) const {
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return nodes[nodeID].label;
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}
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};
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/*----------------------------------------------------------------*/
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} // namespace SEACAVE
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#endif // __SEACAVE_LBP_H__
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