42 #ifndef PCL_REGISTRATION_IMPL_PYRAMID_FEATURE_MATCHING_H_
43 #define PCL_REGISTRATION_IMPL_PYRAMID_FEATURE_MATCHING_H_
45 #include <pcl/pcl_macros.h>
46 #include <pcl/console/print.h>
56 return std::log (n_arg) / float (M_LN2);
61 template <
typename Po
intFeature>
float
66 if (pyramid_a->nr_dimensions != pyramid_b->nr_dimensions)
68 PCL_ERROR (
"[pcl::PyramidFeatureMatching::comparePyramidFeatureHistograms] The two given pyramids have different numbers of dimensions: %u vs %u\n", pyramid_a->nr_dimensions, pyramid_b->nr_dimensions);
71 if (pyramid_a->nr_levels != pyramid_b->nr_levels)
73 PCL_ERROR (
"[pcl::PyramidFeatureMatching::comparePyramidFeatureHistograms] The two given pyramids have different numbers of levels: %u vs %u\n", pyramid_a->nr_levels, pyramid_b->nr_levels);
79 if (pyramid_a->hist_levels[0].hist.size () != pyramid_b->hist_levels[0].hist.size ())
81 PCL_ERROR (
"[pcl::PyramidFeatureMatching::comparePyramidFeatureHistograms] The two given pyramids have different numbers of bins on level 0: %u vs %u\n", pyramid_a->hist_levels[0].hist.size (), pyramid_b->hist_levels[0].hist.size ());
84 float match_count_level = 0.0f, match_count_prev_level = 0.0f;
85 for (
size_t bin_i = 0; bin_i < pyramid_a->hist_levels[0].hist.size (); ++bin_i)
87 if (pyramid_a->hist_levels[0].hist[bin_i] < pyramid_b->hist_levels[0].hist[bin_i])
88 match_count_level +=
static_cast<float> (pyramid_a->hist_levels[0].hist[bin_i]);
90 match_count_level +=
static_cast<float> (pyramid_b->hist_levels[0].hist[bin_i]);
94 float match_count = match_count_level;
95 for (
size_t level_i = 1; level_i < pyramid_a->nr_levels; ++level_i)
97 if (pyramid_a->hist_levels[level_i].hist.size () != pyramid_b->hist_levels[level_i].hist.size ())
99 PCL_ERROR (
"[pcl::PyramidFeatureMatching::comparePyramidFeatureHistograms] The two given pyramids have different numbers of bins on level %u: %u vs %u\n", level_i, pyramid_a->hist_levels[level_i].hist.size (), pyramid_b->hist_levels[level_i].hist.size ());
103 match_count_prev_level = match_count_level;
104 match_count_level = 0.0f;
105 for (
size_t bin_i = 0; bin_i < pyramid_a->hist_levels[level_i].hist.size (); ++bin_i)
107 if (pyramid_a->hist_levels[level_i].hist[bin_i] < pyramid_b->hist_levels[level_i].hist[bin_i])
108 match_count_level +=
static_cast<float> (pyramid_a->hist_levels[level_i].hist[bin_i]);
110 match_count_level +=
static_cast<float> (pyramid_b->hist_levels[level_i].hist[bin_i]);
113 float level_normalization_factor = powf (2.0f,
static_cast<float> (level_i));
114 match_count += (match_count_level - match_count_prev_level) / level_normalization_factor;
119 float self_similarity_a =
static_cast<float> (pyramid_a->nr_features),
120 self_similarity_b =
static_cast<float> (pyramid_b->nr_features);
121 PCL_DEBUG (
"[pcl::PyramidFeatureMatching::comparePyramidFeatureHistograms] Self similarity measures: %f, %f\n", self_similarity_a, self_similarity_b);
122 match_count /= std::sqrt (self_similarity_a * self_similarity_b);
129 template <
typename Po
intFeature>
131 nr_dimensions (0), nr_levels (0), nr_features (0),
132 dimension_range_input_ (), dimension_range_target_ (),
134 is_computed_ (false),
140 template <
typename Po
intFeature>
void
143 size_t total_vector_size = 1;
144 for (std::vector<size_t>::iterator dim_it = bins_per_dimension.begin (); dim_it != bins_per_dimension.end (); ++dim_it)
145 total_vector_size *= *dim_it;
147 hist.resize (total_vector_size, 0);
152 template <
typename Po
intFeature>
bool
158 PCL_ERROR (
"[pcl::PyramidFeatureHistogram::initializeHistogram] PCLBase initCompute failed\n");
162 if (dimension_range_input_.size () == 0)
164 PCL_ERROR (
"[pcl::PyramidFeatureHistogram::initializeHistogram] Input dimension range was not set\n");
168 if (dimension_range_target_.size () == 0)
170 PCL_ERROR (
"[pcl::PyramidFeatureHistogram::initializeHistogram] Target dimension range was not set\n");
174 if (dimension_range_input_.size () != dimension_range_target_.size ())
176 PCL_ERROR (
"[pcl::PyramidFeatureHistogram::initializeHistogram] Input and target dimension ranges do not agree in size: %u vs %u\n",
177 dimension_range_input_.size (), dimension_range_target_.size ());
182 nr_dimensions = dimension_range_target_.size ();
183 nr_features = input_->points.size ();
185 for (std::vector<std::pair<float, float> >::iterator range_it = dimension_range_target_.begin (); range_it != dimension_range_target_.end (); ++range_it)
187 float aux = range_it->first - range_it->second;
191 nr_levels =
static_cast<size_t> (ceilf (Log2 (D)));
192 PCL_DEBUG (
"[pcl::PyramidFeatureHistogram::initializeHistogram] Pyramid will have %u levels with a hyper-parallelepiped diagonal size of %f\n", nr_levels, D);
195 hist_levels.resize (nr_levels);
196 for (
size_t level_i = 0; level_i < nr_levels; ++level_i)
198 std::vector<size_t> bins_per_dimension (nr_dimensions);
199 std::vector<float> bin_step (nr_dimensions);
200 for (
size_t dim_i = 0; dim_i < nr_dimensions; ++dim_i)
202 bins_per_dimension[dim_i] =
203 static_cast<size_t> (ceilf ((dimension_range_target_[dim_i].second - dimension_range_target_[dim_i].first) / (powf (2.0f,
static_cast<float> (level_i)) * std::sqrt (
static_cast<float> (nr_dimensions)))));
204 bin_step[dim_i] = powf (2.0f,
static_cast<float> (level_i)) * std::sqrt (
static_cast<float> (nr_dimensions));
206 hist_levels[level_i] = PyramidFeatureHistogramLevel (bins_per_dimension, bin_step);
208 PCL_DEBUG (
"[pcl::PyramidFeatureHistogram::initializeHistogram] Created vector of size %u at level %u\nwith #bins per dimension:", hist_levels.back ().hist.size (), level_i);
209 for (
size_t dim_i = 0; dim_i < nr_dimensions; ++dim_i)
210 PCL_DEBUG (
"%u ", bins_per_dimension[dim_i]);
219 template <
typename Po
intFeature>
unsigned int&
223 if (access.size () != nr_dimensions)
225 PCL_ERROR (
"[pcl::PyramidFeatureHistogram::at] Cannot access histogram position because the access point does not have the right number of dimensions\n");
226 return hist_levels.front ().hist.front ();
228 if (level >= hist_levels.size ())
230 PCL_ERROR (
"[pcl::PyramidFeatureHistogram::at] Trying to access a too large level\n");
231 return hist_levels.front ().hist.front ();
234 size_t vector_position = 0;
235 size_t dim_accumulator = 1;
237 for (
int i =
static_cast<int> (access.size ()) - 1; i >= 0; --i)
239 vector_position += access[i] * dim_accumulator;
240 dim_accumulator *= hist_levels[level].bins_per_dimension[i];
243 return hist_levels[level].hist[vector_position];
248 template <
typename Po
intFeature>
unsigned int&
252 if (feature.size () != nr_dimensions)
254 PCL_ERROR (
"[pcl::PyramidFeatureHistogram::at] The given feature vector does not match the feature dimensions of the pyramid histogram: %u vs %u\n", feature.size (), nr_dimensions);
255 return hist_levels.front ().hist.front ();
257 if (level >= hist_levels.size ())
259 PCL_ERROR (
"[pcl::PyramidFeatureHistogram::at] Trying to access a too large level\n");
260 return hist_levels.front ().hist.front ();
263 std::vector<size_t> access;
264 for (
size_t dim_i = 0; dim_i < nr_dimensions; ++dim_i)
265 access.push_back (
static_cast<size_t> (floor ((feature[dim_i] - dimension_range_target_[dim_i].first) / hist_levels[level].bin_step[dim_i])));
267 return at (access, level);
272 template <
typename Po
intFeature>
void
274 std::vector<float> &feature_vector)
277 feature_vector.resize (feature_representation_->getNumberOfDimensions ());
278 feature_representation_->vectorize (feature, feature_vector);
281 for (
size_t i = 0; i < feature_vector.size (); ++i)
282 feature_vector[i] = (feature_vector[i] - dimension_range_input_[i].first) / (dimension_range_input_[i].second - dimension_range_input_[i].first) *
283 (dimension_range_target_[i].second - dimension_range_target_[i].first) + dimension_range_target_[i].first;
288 template <
typename Po
intFeature>
void
291 if (!initializeHistogram ())
294 for (
size_t feature_i = 0; feature_i < input_->points.size (); ++feature_i)
296 std::vector<float> feature_vector;
297 convertFeatureToVector (input_->points[feature_i], feature_vector);
298 addFeature (feature_vector);
306 template <
typename Po
intFeature>
void
309 for (
size_t level_i = 0; level_i < nr_levels; ++level_i)
310 at (feature, level_i) ++;
313 #define PCL_INSTANTIATE_PyramidFeatureHistogram(PointFeature) template class PCL_EXPORTS pcl::PyramidFeatureHistogram<PointFeature>;