Point Cloud Library (PCL)  1.11.1-dev
narf.hpp
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38 
39 #include <iostream>
40 #include <pcl/common/norms.h> // for L1_Norm
41 #include <pcl/common/eigen.h>
42 
43 namespace pcl {
44 
45 inline float
46 Narf::getDescriptorDistance(const Narf& other) const
47 {
48  float ret = L1_Norm(descriptor_, other.descriptor_, descriptor_size_);
49  //float ret = Sublinear_Norm(descriptor_, other.descriptor_, descriptor_size_);
50  ret /= static_cast<float> (descriptor_size_);
51  return (ret);
52 }
53 
54 inline void Narf::copyToNarf36(Narf36& narf36) const
55 {
56  if (descriptor_size_ != 36)
57  {
58  std::cerr << __PRETTY_FUNCTION__ << ": descriptor size is not 36!\n";
59  return;
60  }
61  getTranslationAndEulerAngles(transformation_.inverse (), narf36.x, narf36.y, narf36.z, narf36.roll, narf36.pitch, narf36.yaw);
62  memcpy(narf36.descriptor, descriptor_, 36*sizeof(*descriptor_));
63 }
64 
65 //inline float Narf::getDescriptorDistance(const Narf& other) const
66 //{
67  //float middle_value = 0.1f;
68  //float normalization_factor1 = 1.0f/middle_value,
69  //normalization_factor2 = 1.0f/(1.0f-middle_value);
70  //const float* descriptor1_ptr = descriptor_;
71  //const float* descriptor2_ptr = other.getDescriptor();
72  //float ret = 0;
73  //for (int i=0; i<descriptor_size_; ++i) {
74  //float diff = std::abs(*(descriptor2_ptr++) - *(descriptor1_ptr++));
75  //if (diff < middle_value)
76  //{
77  //diff = diff*normalization_factor1;
78  //diff = 0.5f*diff*diff;
79  ////diff = 0.5f*powf(diff, 2);
80  //}
81  //else
82  //{
83  //diff = (diff - middle_value)*normalization_factor2;
84  //diff = 0.5f + 0.5f*diff;
85  ////diff = 0.5f + 0.5f*std::sqrt(diff);
86  ////diff = 0.5f + 0.5f*powf(diff, 0.3f);
87  //}
88  //ret += diff;
89  //}
90  //ret /= descriptor_size_;
91  //return ret;
92 //}
93 
94 //inline float Narf::getDescriptorDistance(const Narf& other) const
95 //{
96  //float max_diff_between_cells = 0.25;
97 
98  //const float* descriptor1_ptr = descriptor_;
99  //const float* descriptor2_ptr = other.getDescriptor();
100  //float ret = 0;
101  //for (int i=0; i<descriptor_size_; ++i) {
102  //ret += (std::min)(max_diff_between_cells, std::abs(*(descriptor2_ptr++) - *(descriptor1_ptr++)));
103  //}
104  //ret /= descriptor_size_*max_diff_between_cells;
105  //return ret;
106 //}
107 
108 } // namespace end
pcl
Definition: convolution.h:46
pcl::Narf
NARF (Normal Aligned Radial Features) is a point feature descriptor type for 3D data.
Definition: narf.h:63
pcl::Narf36::z
float z
Definition: point_types.hpp:1651
pcl::Narf36::pitch
float pitch
Definition: point_types.hpp:1651
pcl::Narf::transformation_
Eigen::Affine3f transformation_
Definition: narf.h:274
pcl::Narf::getDescriptorDistance
float getDescriptorDistance(const Narf &other) const
Calculate descriptor distance, value in [0,1] with 0 meaning identical and 1 every cell above maximum...
Definition: narf.hpp:46
pcl::Narf36::y
float y
Definition: point_types.hpp:1651
pcl::Narf::descriptor_
float * descriptor_
Definition: narf.h:279
pcl::Narf36::roll
float roll
Definition: point_types.hpp:1651
pcl::getTranslationAndEulerAngles
void getTranslationAndEulerAngles(const Eigen::Transform< Scalar, 3, Eigen::Affine > &t, Scalar &x, Scalar &y, Scalar &z, Scalar &roll, Scalar &pitch, Scalar &yaw)
Extract x,y,z and the Euler angles (XYZ-convention) from the given transformation.
Definition: eigen.hpp:594
pcl::Narf36::x
float x
Definition: point_types.hpp:1651
pcl::Narf::copyToNarf36
void copyToNarf36(Narf36 &narf36) const
Copy the descriptor and pose to the point struct Narf36.
Definition: narf.hpp:54
pcl::L1_Norm
float L1_Norm(FloatVectorT a, FloatVectorT b, int dim)
Compute the L1 norm of the vector between two points.
Definition: norms.hpp:88
norms.h
pcl::Narf36
A point structure representing the Narf descriptor.
Definition: point_types.hpp:1649
pcl::Narf36::yaw
float yaw
Definition: point_types.hpp:1651
pcl::Narf::descriptor_size_
int descriptor_size_
Definition: narf.h:280
pcl::Narf36::descriptor
float descriptor[36]
Definition: point_types.hpp:1652