42 #ifndef PCL_REGISTRATION_IMPL_PYRAMID_FEATURE_MATCHING_H_
43 #define PCL_REGISTRATION_IMPL_PYRAMID_FEATURE_MATCHING_H_
46 #include <pcl/console/print.h>
49 template <
typename Po
intFeature>
float
54 if (pyramid_a->nr_dimensions != pyramid_b->nr_dimensions)
56 PCL_ERROR (
"[pcl::PyramidFeatureMatching::comparePyramidFeatureHistograms] The two given pyramids have different numbers of dimensions: %u vs %u\n", pyramid_a->nr_dimensions, pyramid_b->nr_dimensions);
59 if (pyramid_a->nr_levels != pyramid_b->nr_levels)
61 PCL_ERROR (
"[pcl::PyramidFeatureMatching::comparePyramidFeatureHistograms] The two given pyramids have different numbers of levels: %u vs %u\n", pyramid_a->nr_levels, pyramid_b->nr_levels);
67 if (pyramid_a->hist_levels[0].hist.size () != pyramid_b->hist_levels[0].hist.size ())
69 PCL_ERROR (
"[pcl::PyramidFeatureMatching::comparePyramidFeatureHistograms] The two given pyramids have different numbers of bins on level 0: %u vs %u\n", pyramid_a->hist_levels[0].hist.size (), pyramid_b->hist_levels[0].hist.size ());
72 float match_count_level = 0.0f;
73 for (std::size_t bin_i = 0; bin_i < pyramid_a->hist_levels[0].hist.size (); ++bin_i)
75 if (pyramid_a->hist_levels[0].hist[bin_i] < pyramid_b->hist_levels[0].hist[bin_i])
76 match_count_level += static_cast<float> (pyramid_a->hist_levels[0].hist[bin_i]);
78 match_count_level += static_cast<float> (pyramid_b->hist_levels[0].hist[bin_i]);
82 float match_count = match_count_level;
83 for (std::size_t level_i = 1; level_i < pyramid_a->nr_levels; ++level_i)
85 if (pyramid_a->hist_levels[level_i].hist.size () != pyramid_b->hist_levels[level_i].hist.size ())
87 PCL_ERROR (
"[pcl::PyramidFeatureMatching::comparePyramidFeatureHistograms] The two given pyramids have different numbers of bins on level %u: %u vs %u\n", level_i, pyramid_a->hist_levels[level_i].hist.size (), pyramid_b->hist_levels[level_i].hist.size ());
91 float match_count_prev_level = match_count_level;
92 match_count_level = 0.0f;
93 for (std::size_t bin_i = 0; bin_i < pyramid_a->hist_levels[level_i].hist.size (); ++bin_i)
95 if (pyramid_a->hist_levels[level_i].hist[bin_i] < pyramid_b->hist_levels[level_i].hist[bin_i])
96 match_count_level += static_cast<float> (pyramid_a->hist_levels[level_i].hist[bin_i]);
98 match_count_level += static_cast<float> (pyramid_b->hist_levels[level_i].hist[bin_i]);
101 float level_normalization_factor = powf (2.0f, static_cast<float> (level_i));
102 match_count += (match_count_level - match_count_prev_level) / level_normalization_factor;
107 float self_similarity_a = static_cast<float> (pyramid_a->nr_features),
108 self_similarity_b = static_cast<float> (pyramid_b->nr_features);
109 PCL_DEBUG (
"[pcl::PyramidFeatureMatching::comparePyramidFeatureHistograms] Self similarity measures: %f, %f\n", self_similarity_a, self_similarity_b);
110 match_count /= std::sqrt (self_similarity_a * self_similarity_b);
117 template <
typename Po
intFeature>
119 nr_dimensions (0), nr_levels (0), nr_features (0),
121 is_computed_ (false),
127 template <
typename Po
intFeature>
void
130 std::size_t total_vector_size = 1;
131 for (std::vector<std::size_t>::iterator dim_it = bins_per_dimension.begin (); dim_it != bins_per_dimension.end (); ++dim_it)
132 total_vector_size *= *dim_it;
134 hist.resize (total_vector_size, 0);
139 template <
typename Po
intFeature>
bool
145 PCL_ERROR (
"[pcl::PyramidFeatureHistogram::initializeHistogram] PCLBase initCompute failed\n");
149 if (dimension_range_input_.empty ())
151 PCL_ERROR (
"[pcl::PyramidFeatureHistogram::initializeHistogram] Input dimension range was not set\n");
155 if (dimension_range_target_.empty ())
157 PCL_ERROR (
"[pcl::PyramidFeatureHistogram::initializeHistogram] Target dimension range was not set\n");
161 if (dimension_range_input_.size () != dimension_range_target_.size ())
163 PCL_ERROR (
"[pcl::PyramidFeatureHistogram::initializeHistogram] Input and target dimension ranges do not agree in size: %u vs %u\n",
164 dimension_range_input_.size (), dimension_range_target_.size ());
169 nr_dimensions = dimension_range_target_.size ();
170 nr_features = input_->points.size ();
172 for (std::vector<std::pair<float, float> >::iterator range_it = dimension_range_target_.begin (); range_it != dimension_range_target_.end (); ++range_it)
174 float aux = range_it->first - range_it->second;
178 nr_levels = static_cast<std::size_t> (std::ceil (std::log2(D)));
179 PCL_DEBUG (
"[pcl::PyramidFeatureHistogram::initializeHistogram] Pyramid will have %u levels with a hyper-parallelepiped diagonal size of %f\n", nr_levels, D);
182 hist_levels.resize (nr_levels);
183 for (std::size_t level_i = 0; level_i < nr_levels; ++level_i)
185 std::vector<std::size_t> bins_per_dimension (nr_dimensions);
186 std::vector<float> bin_step (nr_dimensions);
187 for (std::size_t dim_i = 0; dim_i < nr_dimensions; ++dim_i)
189 bins_per_dimension[dim_i] =
190 static_cast<std::size_t> (std::ceil ((dimension_range_target_[dim_i].second - dimension_range_target_[dim_i].first) / (powf (2.0f, static_cast<float> (level_i)) * std::sqrt (static_cast<float> (nr_dimensions)))));
191 bin_step[dim_i] = powf (2.0f, static_cast<float> (level_i)) * std::sqrt (static_cast<float> (nr_dimensions));
193 hist_levels[level_i] = PyramidFeatureHistogramLevel (bins_per_dimension, bin_step);
195 PCL_DEBUG (
"[pcl::PyramidFeatureHistogram::initializeHistogram] Created vector of size %u at level %u\nwith #bins per dimension:", hist_levels.back ().hist.size (), level_i);
196 for (std::size_t dim_i = 0; dim_i < nr_dimensions; ++dim_i)
197 PCL_DEBUG (
"%u ", bins_per_dimension[dim_i]);
206 template <
typename Po
intFeature>
unsigned int&
210 if (access.size () != nr_dimensions)
212 PCL_ERROR (
"[pcl::PyramidFeatureHistogram::at] Cannot access histogram position because the access point does not have the right number of dimensions\n");
213 return hist_levels.front ().hist.front ();
215 if (level >= hist_levels.size ())
217 PCL_ERROR (
"[pcl::PyramidFeatureHistogram::at] Trying to access a too large level\n");
218 return hist_levels.front ().hist.front ();
221 std::size_t vector_position = 0;
222 std::size_t dim_accumulator = 1;
224 for (
int i = static_cast<int> (access.size ()) - 1; i >= 0; --i)
226 vector_position += access[i] * dim_accumulator;
227 dim_accumulator *= hist_levels[level].bins_per_dimension[i];
230 return hist_levels[level].hist[vector_position];
235 template <
typename Po
intFeature>
unsigned int&
239 if (feature.size () != nr_dimensions)
241 PCL_ERROR (
"[pcl::PyramidFeatureHistogram::at] The given feature vector does not match the feature dimensions of the pyramid histogram: %u vs %u\n", feature.size (), nr_dimensions);
242 return hist_levels.front ().hist.front ();
244 if (level >= hist_levels.size ())
246 PCL_ERROR (
"[pcl::PyramidFeatureHistogram::at] Trying to access a too large level\n");
247 return hist_levels.front ().hist.front ();
250 std::vector<std::size_t> access;
251 for (std::size_t dim_i = 0; dim_i < nr_dimensions; ++dim_i)
252 access.push_back (static_cast<std::size_t> (std::floor ((feature[dim_i] - dimension_range_target_[dim_i].first) / hist_levels[level].bin_step[dim_i])));
254 return at (access, level);
259 template <
typename Po
intFeature>
void
261 std::vector<float> &feature_vector)
264 feature_vector.resize (feature_representation_->getNumberOfDimensions ());
265 feature_representation_->vectorize (feature, feature_vector);
268 for (std::size_t i = 0; i < feature_vector.size (); ++i)
269 feature_vector[i] = (feature_vector[i] - dimension_range_input_[i].first) / (dimension_range_input_[i].second - dimension_range_input_[i].first) *
270 (dimension_range_target_[i].second - dimension_range_target_[i].first) + dimension_range_target_[i].first;
275 template <
typename Po
intFeature>
void
278 if (!initializeHistogram ())
281 for (std::size_t feature_i = 0; feature_i < input_->points.size (); ++feature_i)
283 std::vector<float> feature_vector;
284 convertFeatureToVector (input_->points[feature_i], feature_vector);
285 addFeature (feature_vector);
293 template <
typename Po
intFeature>
void
296 for (std::size_t level_i = 0; level_i < nr_levels; ++level_i)
297 at (feature, level_i) ++;
300 #define PCL_INSTANTIATE_PyramidFeatureHistogram(PointFeature) template class PCL_EXPORTS pcl::PyramidFeatureHistogram<PointFeature>;