109 lines
3.9 KiB
C++
109 lines
3.9 KiB
C++
/*
|
|
* Software License Agreement (BSD License)
|
|
*
|
|
* Point Cloud Library (PCL) - www.pointclouds.org
|
|
* Copyright (c) 2010, Willow Garage, Inc.
|
|
* Copyright (c) 2012-, Open Perception, Inc.
|
|
*
|
|
* All rights reserved.
|
|
*
|
|
* Redistribution and use in source and binary forms, with or without
|
|
* modification, are permitted provided that the following conditions
|
|
* are met:
|
|
*
|
|
* * Redistributions of source code must retain the above copyright
|
|
* notice, this list of conditions and the following disclaimer.
|
|
* * Redistributions in binary form must reproduce the above
|
|
* copyright notice, this list of conditions and the following
|
|
* disclaimer in the documentation and/or other materials provided
|
|
* with the distribution.
|
|
* * Neither the name of the copyright holder(s) nor the names of its
|
|
* contributors may be used to endorse or promote products derived
|
|
* from this software without specific prior written permission.
|
|
*
|
|
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
|
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
|
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
|
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
|
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
|
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
|
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
|
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
|
|
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
|
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
|
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
|
* POSSIBILITY OF SUCH DAMAGE.
|
|
*
|
|
*/
|
|
|
|
#include <iostream>
|
|
#include <pcl/common/norms.h> // for L1_Norm
|
|
#include <pcl/common/eigen.h>
|
|
|
|
namespace pcl {
|
|
|
|
inline float
|
|
Narf::getDescriptorDistance(const Narf& other) const
|
|
{
|
|
float ret = L1_Norm(descriptor_, other.descriptor_, descriptor_size_);
|
|
//float ret = Sublinear_Norm(descriptor_, other.descriptor_, descriptor_size_);
|
|
ret /= static_cast<float> (descriptor_size_);
|
|
return (ret);
|
|
}
|
|
|
|
inline void Narf::copyToNarf36(Narf36& narf36) const
|
|
{
|
|
if (descriptor_size_ != 36)
|
|
{
|
|
std::cerr << __PRETTY_FUNCTION__ << ": descriptor size is not 36!\n";
|
|
return;
|
|
}
|
|
getTranslationAndEulerAngles(transformation_.inverse (), narf36.x, narf36.y, narf36.z, narf36.roll, narf36.pitch, narf36.yaw);
|
|
memcpy(narf36.descriptor, descriptor_, 36*sizeof(*descriptor_));
|
|
}
|
|
|
|
//inline float Narf::getDescriptorDistance(const Narf& other) const
|
|
//{
|
|
//float middle_value = 0.1f;
|
|
//float normalization_factor1 = 1.0f/middle_value,
|
|
//normalization_factor2 = 1.0f/(1.0f-middle_value);
|
|
//const float* descriptor1_ptr = descriptor_;
|
|
//const float* descriptor2_ptr = other.getDescriptor();
|
|
//float ret = 0;
|
|
//for (int i=0; i<descriptor_size_; ++i) {
|
|
//float diff = std::abs(*(descriptor2_ptr++) - *(descriptor1_ptr++));
|
|
//if (diff < middle_value)
|
|
//{
|
|
//diff = diff*normalization_factor1;
|
|
//diff = 0.5f*diff*diff;
|
|
////diff = 0.5f*powf(diff, 2);
|
|
//}
|
|
//else
|
|
//{
|
|
//diff = (diff - middle_value)*normalization_factor2;
|
|
//diff = 0.5f + 0.5f*diff;
|
|
////diff = 0.5f + 0.5f*std::sqrt(diff);
|
|
////diff = 0.5f + 0.5f*powf(diff, 0.3f);
|
|
//}
|
|
//ret += diff;
|
|
//}
|
|
//ret /= descriptor_size_;
|
|
//return ret;
|
|
//}
|
|
|
|
//inline float Narf::getDescriptorDistance(const Narf& other) const
|
|
//{
|
|
//float max_diff_between_cells = 0.25;
|
|
|
|
//const float* descriptor1_ptr = descriptor_;
|
|
//const float* descriptor2_ptr = other.getDescriptor();
|
|
//float ret = 0;
|
|
//for (int i=0; i<descriptor_size_; ++i) {
|
|
//ret += (std::min)(max_diff_between_cells, std::abs(*(descriptor2_ptr++) - *(descriptor1_ptr++)));
|
|
//}
|
|
//ret /= descriptor_size_*max_diff_between_cells;
|
|
//return ret;
|
|
//}
|
|
|
|
} // namespace end
|