Point Cloud Library (PCL)
1.7.0
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00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2011, Alexandru-Eugen Ichim 00005 * Willow Garage, Inc 00006 * Copyright (c) 2012-, Open Perception, Inc. 00007 * 00008 * All rights reserved. 00009 * 00010 * Redistribution and use in source and binary forms, with or without 00011 * modification, are permitted provided that the following conditions 00012 * are met: 00013 * 00014 * * Redistributions of source code must retain the above copyright 00015 * notice, this list of conditions and the following disclaimer. 00016 * * Redistributions in binary form must reproduce the above 00017 * copyright notice, this list of conditions and the following 00018 * disclaimer in the documentation and/or other materials provided 00019 * with the distribution. 00020 * * Neither the name of the copyright holder(s) nor the names of its 00021 * contributors may be used to endorse or promote products derived 00022 * from this software without specific prior written permission. 00023 * 00024 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00025 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00026 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00027 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00028 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00029 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00030 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00031 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00032 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00033 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00034 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00035 * POSSIBILITY OF SUCH DAMAGE. 00036 * 00037 * $Id$ 00038 * 00039 */ 00040 00041 #ifndef PCL_PYRAMID_FEATURE_MATCHING_H_ 00042 #define PCL_PYRAMID_FEATURE_MATCHING_H_ 00043 00044 #include <pcl/pcl_base.h> 00045 #include <pcl/point_representation.h> 00046 00047 namespace pcl 00048 { 00049 /** 00050 * \brief Class that compares two sets of features by using a multiscale representation of the features inside a 00051 * pyramid. Each level of the pyramid offers information about the similarity of the two feature sets. 00052 * \note Works with any Point/Feature type which has a PointRepresentation implementation 00053 * \note The only parameters it needs are the input dimension ranges and the output dimension ranges. The input 00054 * dimension ranges represent the ranges in which each dimension of the feature vector lies. As described in the 00055 * paper, a minimum inter-vector distance of sqrt(nr_dims)/2 is needed. As such, the target dimension range parameter 00056 * is used in order to augment/reduce the range for each dimension in order to obtain the necessary minimal 00057 * inter-vector distance and to add/subtract weight to/from certain dimensions of the feature vector. 00058 * 00059 * Follows the algorithm presented in the publication: 00060 * Grauman, K. & Darrell, T. 00061 * The Pyramid Match Kernel: Discriminative Classification with Sets of Image Features 00062 * Tenth IEEE International Conference on Computer Vision ICCV05 Volume 1 00063 * October 2005 00064 * 00065 * \author Alexandru-Eugen Ichim 00066 */ 00067 template <typename PointFeature> 00068 class PyramidFeatureHistogram : public PCLBase<PointFeature> 00069 { 00070 public: 00071 using PCLBase<PointFeature>::input_; 00072 00073 typedef boost::shared_ptr<PyramidFeatureHistogram<PointFeature> > Ptr; 00074 typedef Ptr PyramidFeatureHistogramPtr; 00075 typedef boost::shared_ptr<const pcl::PointRepresentation<PointFeature> > FeatureRepresentationConstPtr; 00076 00077 00078 /** \brief Empty constructor that instantiates the feature representation variable */ 00079 PyramidFeatureHistogram (); 00080 00081 /** \brief Method for setting the input dimension range parameter. 00082 * \note Please check the PyramidHistogram class description for more details about this parameter. 00083 */ 00084 inline void 00085 setInputDimensionRange (std::vector<std::pair<float, float> > &dimension_range_input) 00086 { dimension_range_input_ = dimension_range_input; } 00087 00088 /** \brief Method for retrieving the input dimension range vector */ 00089 inline std::vector<std::pair<float, float> > 00090 getInputDimensionRange () { return dimension_range_input_; } 00091 00092 /** \brief Method to set the target dimension range parameter. 00093 * \note Please check the PyramidHistogram class description for more details about this parameter. 00094 */ 00095 inline void 00096 setTargetDimensionRange (std::vector<std::pair<float, float> > &dimension_range_target) 00097 { dimension_range_target_ = dimension_range_target; } 00098 00099 /** \brief Method for retrieving the target dimension range vector */ 00100 inline std::vector<std::pair<float, float> > 00101 getTargetDimensionRange () { return dimension_range_target_; } 00102 00103 /** \brief Provide a pointer to the feature representation to use to convert features to k-D vectors. 00104 * \param feature_representation the const boost shared pointer to a PointRepresentation 00105 */ 00106 inline void 00107 setPointRepresentation (const FeatureRepresentationConstPtr& feature_representation) { feature_representation_ = feature_representation; } 00108 00109 /** \brief Get a pointer to the feature representation used when converting features into k-D vectors. */ 00110 inline FeatureRepresentationConstPtr const 00111 getPointRepresentation () { return feature_representation_; } 00112 00113 /** \brief The central method for inserting the feature set inside the pyramid and obtaining the complete pyramid */ 00114 void 00115 compute (); 00116 00117 /** \brief Checks whether the pyramid histogram has been computed */ 00118 inline bool 00119 isComputed () { return is_computed_; } 00120 00121 /** \brief Static method for comparing two pyramid histograms that returns a floating point value between 0 and 1, 00122 * representing the similiarity between the feature sets on which the two pyramid histograms are based. 00123 * \param pyramid_a Pointer to the first pyramid to be compared (needs to be computed already). 00124 * \param pyramid_b Pointer to the second pyramid to be compared (needs to be computed already). 00125 */ 00126 static float 00127 comparePyramidFeatureHistograms (const PyramidFeatureHistogramPtr &pyramid_a, 00128 const PyramidFeatureHistogramPtr &pyramid_b); 00129 00130 00131 private: 00132 size_t nr_dimensions, nr_levels, nr_features; 00133 std::vector<std::pair<float, float> > dimension_range_input_, dimension_range_target_; 00134 FeatureRepresentationConstPtr feature_representation_; 00135 bool is_computed_; 00136 00137 /** \brief Checks for input inconsistencies and initializes the underlying data structures */ 00138 bool 00139 initializeHistogram (); 00140 00141 /** \brief Converts a feature in templated form to an STL vector. This is the point where the conversion from the 00142 * input dimension range to the target dimension range is done. 00143 */ 00144 void 00145 convertFeatureToVector (const PointFeature &feature, 00146 std::vector<float> &feature_vector); 00147 00148 /** \brief Adds a feature vector to its corresponding bin at each level in the pyramid */ 00149 void 00150 addFeature (std::vector<float> &feature); 00151 00152 /** \brief Access the pyramid bin given the position of the bin at the given pyramid level 00153 * and the pyramid level 00154 * \param access index of the bin at the respective level 00155 * \param level the level in the pyramid 00156 */ 00157 inline unsigned int& 00158 at (std::vector<size_t> &access, 00159 size_t &level); 00160 00161 /** \brief Access the pyramid bin given a feature vector and the pyramid level 00162 * \param feature the feature in vectorized form 00163 * \param level the level in the pyramid 00164 */ 00165 inline unsigned int& 00166 at (std::vector<float> &feature, 00167 size_t &level); 00168 00169 /** \brief Structure for representing a single pyramid histogram level */ 00170 struct PyramidFeatureHistogramLevel 00171 { 00172 PyramidFeatureHistogramLevel () : 00173 hist (), 00174 bins_per_dimension (), 00175 bin_step () 00176 { 00177 } 00178 00179 PyramidFeatureHistogramLevel (std::vector<size_t> &a_bins_per_dimension, std::vector<float> &a_bin_step) : 00180 hist (), 00181 bins_per_dimension (a_bins_per_dimension), 00182 bin_step (a_bin_step) 00183 { 00184 initializeHistogramLevel (); 00185 } 00186 00187 void 00188 initializeHistogramLevel (); 00189 00190 std::vector<unsigned int> hist; 00191 std::vector<size_t> bins_per_dimension; 00192 std::vector<float> bin_step; 00193 }; 00194 std::vector<PyramidFeatureHistogramLevel> hist_levels; 00195 }; 00196 } 00197 00198 #ifdef PCL_NO_PRECOMPILE 00199 #include <pcl/registration/impl/pyramid_feature_matching.hpp> 00200 #endif 00201 00202 #endif // PCL_PYRAMID_FEATURE_MATCHING_H_