218 lines
8.1 KiB
C
218 lines
8.1 KiB
C
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/*
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* Software License Agreement (BSD License)
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*
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* Copyright (c) 2011, Alexandru-Eugen Ichim
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* Willow Garage, Inc
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* Copyright (c) 2012-, Open Perception, Inc.
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*
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of the copyright holder(s) nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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* $Id$
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*
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*/
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#pragma once
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#include <pcl/pcl_base.h>
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#include <pcl/point_representation.h>
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namespace pcl {
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/**
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* \brief Class that compares two sets of features by using a multiscale representation
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* of the features inside a pyramid. Each level of the pyramid offers information about
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* the similarity of the two feature sets. \note Works with any Point/Feature type which
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* has a PointRepresentation implementation \note The only parameters it needs are the
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* input dimension ranges and the output dimension ranges. The input dimension ranges
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* represent the ranges in which each dimension of the feature vector lies. As described
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* in the paper, a minimum inter-vector distance of sqrt(nr_dims)/2 is needed. As such,
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* the target dimension range parameter is used in order to augment/reduce the range for
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* each dimension in order to obtain the necessary minimal inter-vector distance and to
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* add/subtract weight to/from certain dimensions of the feature vector.
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*
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* Follows the algorithm presented in the publication:
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* Grauman, K. & Darrell, T.
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* The Pyramid Match Kernel: Discriminative Classification with Sets of Image
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* Features Tenth IEEE International Conference on Computer Vision ICCV05 Volume 1
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* October 2005
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*
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* \author Alexandru-Eugen Ichim
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*/
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template <typename PointFeature>
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class PyramidFeatureHistogram : public PCLBase<PointFeature> {
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public:
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using PCLBase<PointFeature>::input_;
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using Ptr = shared_ptr<PyramidFeatureHistogram<PointFeature>>;
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using ConstPtr = shared_ptr<const PyramidFeatureHistogram<PointFeature>>;
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using PyramidFeatureHistogramPtr = Ptr;
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using FeatureRepresentationConstPtr =
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shared_ptr<const pcl::PointRepresentation<PointFeature>>;
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/** \brief Empty constructor that instantiates the feature representation variable */
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PyramidFeatureHistogram();
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/** \brief Method for setting the input dimension range parameter.
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* \note Please check the PyramidHistogram class description for more details about
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* this parameter.
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*/
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inline void
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setInputDimensionRange(std::vector<std::pair<float, float>>& dimension_range_input)
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{
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dimension_range_input_ = dimension_range_input;
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}
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/** \brief Method for retrieving the input dimension range vector */
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inline std::vector<std::pair<float, float>>
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getInputDimensionRange()
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{
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return dimension_range_input_;
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}
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/** \brief Method to set the target dimension range parameter.
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* \note Please check the PyramidHistogram class description for more details about
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* this parameter.
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*/
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inline void
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setTargetDimensionRange(std::vector<std::pair<float, float>>& dimension_range_target)
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{
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dimension_range_target_ = dimension_range_target;
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}
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/** \brief Method for retrieving the target dimension range vector */
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inline std::vector<std::pair<float, float>>
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getTargetDimensionRange()
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{
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return dimension_range_target_;
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}
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/** \brief Provide a pointer to the feature representation to use to convert features
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* to k-D vectors. \param feature_representation the const boost shared pointer to a
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* PointRepresentation
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*/
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inline void
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setPointRepresentation(const FeatureRepresentationConstPtr& feature_representation)
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{
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feature_representation_ = feature_representation;
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}
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/** \brief Get a pointer to the feature representation used when converting features
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* into k-D vectors. */
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inline FeatureRepresentationConstPtr const
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getPointRepresentation()
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{
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return feature_representation_;
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}
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/** \brief The central method for inserting the feature set inside the pyramid and
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* obtaining the complete pyramid */
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void
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compute();
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/** \brief Checks whether the pyramid histogram has been computed */
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inline bool
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isComputed()
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{
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return is_computed_;
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}
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/** \brief Static method for comparing two pyramid histograms that returns a floating
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* point value between 0 and 1, representing the similarity between the feature sets
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* on which the two pyramid histograms are based. \param pyramid_a Pointer to the
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* first pyramid to be compared (needs to be computed already). \param pyramid_b
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* Pointer to the second pyramid to be compared (needs to be computed already).
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*/
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static float
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comparePyramidFeatureHistograms(const PyramidFeatureHistogramPtr& pyramid_a,
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const PyramidFeatureHistogramPtr& pyramid_b);
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private:
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std::size_t nr_dimensions, nr_levels, nr_features;
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std::vector<std::pair<float, float>> dimension_range_input_, dimension_range_target_;
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FeatureRepresentationConstPtr feature_representation_;
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bool is_computed_;
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/** \brief Checks for input inconsistencies and initializes the underlying data
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* structures */
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bool
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initializeHistogram();
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/** \brief Converts a feature in templated form to an STL vector. This is the point
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* where the conversion from the input dimension range to the target dimension range
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* is done.
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*/
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void
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convertFeatureToVector(const PointFeature& feature,
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std::vector<float>& feature_vector);
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/** \brief Adds a feature vector to its corresponding bin at each level in the pyramid
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*/
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void
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addFeature(std::vector<float>& feature);
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/** \brief Access the pyramid bin given the position of the bin at the given pyramid
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* level and the pyramid level \param access index of the bin at the respective level
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* \param level the level in the pyramid
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*/
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inline unsigned int&
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at(std::vector<std::size_t>& access, std::size_t& level);
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/** \brief Access the pyramid bin given a feature vector and the pyramid level
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* \param feature the feature in vectorized form
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* \param level the level in the pyramid
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*/
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inline unsigned int&
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at(std::vector<float>& feature, std::size_t& level);
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/** \brief Structure for representing a single pyramid histogram level */
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struct PyramidFeatureHistogramLevel {
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PyramidFeatureHistogramLevel() {}
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PyramidFeatureHistogramLevel(std::vector<std::size_t>& a_bins_per_dimension,
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std::vector<float>& a_bin_step)
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: bins_per_dimension(a_bins_per_dimension), bin_step(a_bin_step)
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{
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initializeHistogramLevel();
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}
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void
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initializeHistogramLevel();
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std::vector<unsigned int> hist;
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std::vector<std::size_t> bins_per_dimension;
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std::vector<float> bin_step;
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};
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std::vector<PyramidFeatureHistogramLevel> hist_levels;
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};
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} // namespace pcl
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#ifdef PCL_NO_PRECOMPILE
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#include <pcl/registration/impl/pyramid_feature_matching.hpp>
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#endif
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