Point Cloud Library (PCL)
1.3.1
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00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2011, Alexandru-Eugen Ichim 00005 * Willow Garage, Inc 00006 * All rights reserved. 00007 * 00008 * Redistribution and use in source and binary forms, with or without 00009 * modification, are permitted provided that the following conditions 00010 * are met: 00011 * 00012 * * Redistributions of source code must retain the above copyright 00013 * notice, this list of conditions and the following disclaimer. 00014 * * Redistributions in binary form must reproduce the above 00015 * copyright notice, this list of conditions and the following 00016 * disclaimer in the documentation and/or other materials provided 00017 * with the distribution. 00018 * * Neither the name of Willow Garage, Inc. nor the names of its 00019 * contributors may be used to endorse or promote products derived 00020 * from this software without specific prior written permission. 00021 * 00022 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00023 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00024 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00025 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00026 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00027 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00028 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00029 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00030 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00031 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00032 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00033 * POSSIBILITY OF SUCH DAMAGE. 00034 * 00035 * $Id: pyramid_feature_matching.h 2505 2011-09-19 03:18:54Z rusu $ 00036 */ 00037 00038 #ifndef PCL_PYRAMID_FEATURE_MATCHING_H_ 00039 #define PCL_PYRAMID_FEATURE_MATCHING_H_ 00040 00041 #include <pcl/pcl_base.h> 00042 #include <pcl/point_representation.h> 00043 00044 namespace pcl 00045 { 00064 template <typename PointFeature> 00065 class PyramidFeatureHistogram : public PCLBase<PointFeature> 00066 { 00067 public: 00068 using PCLBase<PointFeature>::input_; 00069 00070 typedef boost::shared_ptr<PyramidFeatureHistogram<PointFeature> > Ptr; 00071 typedef Ptr PyramidFeatureHistogramPtr; 00072 typedef boost::shared_ptr<const pcl::PointRepresentation<PointFeature> > FeatureRepresentationConstPtr; 00073 00074 00076 PyramidFeatureHistogram (); 00077 00081 inline void 00082 setInputDimensionRange (std::vector<std::pair<float, float> > &dimension_range_input) 00083 { dimension_range_input_ = dimension_range_input; } 00084 00086 inline std::vector<std::pair<float, float> > 00087 getInputDimensionRange () { return dimension_range_input_; } 00088 00092 inline void 00093 setTargetDimensionRange (std::vector<std::pair<float, float> > &dimension_range_target) 00094 { dimension_range_target_ = dimension_range_target; } 00095 00097 inline std::vector<std::pair<float, float> > 00098 getTargetDimensionRange () { return dimension_range_target_; } 00099 00103 inline void 00104 setPointRepresentation (const FeatureRepresentationConstPtr& feature_representation) { feature_representation_ = feature_representation; } 00105 00107 inline FeatureRepresentationConstPtr const 00108 getPointRepresentation () { return feature_representation_; } 00109 00111 void 00112 compute (); 00113 00115 inline bool 00116 isComputed () { return is_computed_; } 00117 00123 static float 00124 comparePyramidFeatureHistograms (const PyramidFeatureHistogramPtr &pyramid_a, 00125 const PyramidFeatureHistogramPtr &pyramid_b); 00126 00127 00128 private: 00129 size_t nr_dimensions, nr_levels, nr_features; 00130 std::vector<std::pair<float, float> > dimension_range_input_, dimension_range_target_; 00131 FeatureRepresentationConstPtr feature_representation_; 00132 bool is_computed_; 00133 00135 bool 00136 initializeHistogram (); 00137 00141 void 00142 convertFeatureToVector (const PointFeature &feature, 00143 std::vector<float> &feature_vector); 00144 00146 void 00147 addFeature (std::vector<float> &feature); 00148 00154 inline unsigned int& 00155 at (std::vector<size_t> &access, 00156 size_t &level); 00157 00162 inline unsigned int& 00163 at (std::vector<float> &feature, 00164 size_t &level); 00165 00167 struct PyramidFeatureHistogramLevel 00168 { 00169 PyramidFeatureHistogramLevel () {} 00170 PyramidFeatureHistogramLevel (std::vector<size_t> &a_bins_per_dimension, 00171 std::vector<float> &a_bin_step) 00172 : bins_per_dimension (a_bins_per_dimension), 00173 bin_step (a_bin_step) 00174 { 00175 initializeHistogramLevel (); 00176 } 00177 00178 void 00179 initializeHistogramLevel (); 00180 00181 std::vector<unsigned int> hist; 00182 std::vector<size_t> bins_per_dimension; 00183 std::vector<float> bin_step; 00184 }; 00185 std::vector<PyramidFeatureHistogramLevel> hist_levels; 00186 }; 00187 } 00188 00189 #endif /* PCL_PYRAMID_FEATURE_MATCHING_H_ */