stixel-world代码解读

std::vector<float> integralMembership(vmax);
            float tmpSum = 0.f;
            for (int v = 0; v < vmax; v++)
            {
                const float d = disparity(u, v);

                float membership = 0.f;
                if (dB > 0.f && d > 0.f)
                {
                    const float deltad = (d - dB) / deltaD;
                    const float exponent = 1.f - deltad * deltad;
                    membership = powf(2.f, exponent) - 1.f;
                }

                tmpSum += membership;
                integralMembership[v] = tmpSum;
            }

            score(u, 0) = integralMembership[vB - 1];
            for (int vT = 1; vT < vB; vT++)
            {
                const float score1 = integralMembership[vT - 1];
                const float score2 = integralMembership[vB - 1] - integralMembership[vT - 1];
                score(u, vT) = score1 - score2;
            }

score(u, 0) = - integralMembership[vB - 1];