pyramid_feature_matching.h
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* Willow Garage, Inc
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#pragma once
#include <pcl/pcl_base.h>
#include <pcl/point_representation.h>
namespace pcl
{
/**
* \brief Class that compares two sets of features by using a multiscale representation of the features inside a
* pyramid. Each level of the pyramid offers information about the similarity of the two feature sets.
* \note Works with any Point/Feature type which has a PointRepresentation implementation
* \note The only parameters it needs are the input dimension ranges and the output dimension ranges. The input
* dimension ranges represent the ranges in which each dimension of the feature vector lies. As described in the
* paper, a minimum inter-vector distance of sqrt(nr_dims)/2 is needed. As such, the target dimension range parameter
* is used in order to augment/reduce the range for each dimension in order to obtain the necessary minimal
* inter-vector distance and to add/subtract weight to/from certain dimensions of the feature vector.
*
* Follows the algorithm presented in the publication:
* Grauman, K. & Darrell, T.
* The Pyramid Match Kernel: Discriminative Classification with Sets of Image Features
* Tenth IEEE International Conference on Computer Vision ICCV05 Volume 1
* October 2005
*
* \author Alexandru-Eugen Ichim
*/
template <typename PointFeature>
class PyramidFeatureHistogram : public PCLBase<PointFeature>
{
public:
using PCLBase<PointFeature>::input_;
using Ptr = shared_ptr<PyramidFeatureHistogram<PointFeature> >;
using ConstPtr = shared_ptr<const PyramidFeatureHistogram<PointFeature>>;
using PyramidFeatureHistogramPtr = Ptr;
using FeatureRepresentationConstPtr = shared_ptr<const pcl::PointRepresentation<PointFeature> >;
/** \brief Empty constructor that instantiates the feature representation variable */
PyramidFeatureHistogram ();
/** \brief Method for setting the input dimension range parameter.
* \note Please check the PyramidHistogram class description for more details about this parameter.
*/
inline void
setInputDimensionRange (std::vector<std::pair<float, float> > &dimension_range_input)
{ dimension_range_input_ = dimension_range_input; }
/** \brief Method for retrieving the input dimension range vector */
inline std::vector<std::pair<float, float> >
getInputDimensionRange () { return dimension_range_input_; }
/** \brief Method to set the target dimension range parameter.
* \note Please check the PyramidHistogram class description for more details about this parameter.
*/
inline void
setTargetDimensionRange (std::vector<std::pair<float, float> > &dimension_range_target)
{ dimension_range_target_ = dimension_range_target; }
/** \brief Method for retrieving the target dimension range vector */
inline std::vector<std::pair<float, float> >
getTargetDimensionRange () { return dimension_range_target_; }
/** \brief Provide a pointer to the feature representation to use to convert features to k-D vectors.
* \param feature_representation the const boost shared pointer to a PointRepresentation
*/
inline void
setPointRepresentation (const FeatureRepresentationConstPtr& feature_representation) { feature_representation_ = feature_representation; }
/** \brief Get a pointer to the feature representation used when converting features into k-D vectors. */
inline FeatureRepresentationConstPtr const
getPointRepresentation () { return feature_representation_; }
/** \brief The central method for inserting the feature set inside the pyramid and obtaining the complete pyramid */
void
compute ();
/** \brief Checks whether the pyramid histogram has been computed */
inline bool
isComputed () { return is_computed_; }
/** \brief Static method for comparing two pyramid histograms that returns a floating point value between 0 and 1,
* representing the similarity between the feature sets on which the two pyramid histograms are based.
* \param pyramid_a Pointer to the first pyramid to be compared (needs to be computed already).
* \param pyramid_b Pointer to the second pyramid to be compared (needs to be computed already).
*/
static float
comparePyramidFeatureHistograms (const PyramidFeatureHistogramPtr &pyramid_a,
const PyramidFeatureHistogramPtr &pyramid_b);
private:
std::size_t nr_dimensions, nr_levels, nr_features;
std::vector<std::pair<float, float> > dimension_range_input_, dimension_range_target_;
FeatureRepresentationConstPtr feature_representation_;
bool is_computed_;
/** \brief Checks for input inconsistencies and initializes the underlying data structures */
bool
initializeHistogram ();
/** \brief Converts a feature in templated form to an STL vector. This is the point where the conversion from the
* input dimension range to the target dimension range is done.
*/
void
convertFeatureToVector (const PointFeature &feature,
std::vector<float> &feature_vector);
/** \brief Adds a feature vector to its corresponding bin at each level in the pyramid */
void
addFeature (std::vector<float> &feature);
/** \brief Access the pyramid bin given the position of the bin at the given pyramid level
* and the pyramid level
* \param access index of the bin at the respective level
* \param level the level in the pyramid
*/
inline unsigned int&
at (std::vector<std::size_t> &access,
std::size_t &level);
/** \brief Access the pyramid bin given a feature vector and the pyramid level
* \param feature the feature in vectorized form
* \param level the level in the pyramid
*/
inline unsigned int&
at (std::vector<float> &feature,
std::size_t &level);
/** \brief Structure for representing a single pyramid histogram level */
struct PyramidFeatureHistogramLevel
{
PyramidFeatureHistogramLevel ()
{
}
PyramidFeatureHistogramLevel (std::vector<std::size_t> &a_bins_per_dimension, std::vector<float> &a_bin_step) :
bins_per_dimension (a_bins_per_dimension),
bin_step (a_bin_step)
{
initializeHistogramLevel ();
}
void
initializeHistogramLevel ();
std::vector<unsigned int> hist;
std::vector<std::size_t> bins_per_dimension;
std::vector<float> bin_step;
};
std::vector<PyramidFeatureHistogramLevel> hist_levels;
};
}
#ifdef PCL_NO_PRECOMPILE
#include <pcl/registration/impl/pyramid_feature_matching.hpp>
#endif
pcl
This file defines compatibility wrappers for low level I/O functions.
Definition: convolution.h:45
pcl::PyramidFeatureHistogram::PyramidFeatureHistogram
PyramidFeatureHistogram()
Empty constructor that instantiates the feature representation variable.
Definition: pyramid_feature_matching.hpp:118
pcl::PyramidFeatureHistogram::PyramidFeatureHistogramPtr
Ptr PyramidFeatureHistogramPtr
Definition: pyramid_feature_matching.h:74
pcl::PyramidFeatureHistogram::getPointRepresentation
const FeatureRepresentationConstPtr getPointRepresentation()
Get a pointer to the feature representation used when converting features into k-D vectors.
Definition: pyramid_feature_matching.h:111
pcl::PyramidFeatureHistogram::isComputed
bool isComputed()
Checks whether the pyramid histogram has been computed.
Definition: pyramid_feature_matching.h:119
pcl::PCLBase
PCL base class.
Definition: pcl_base.h:69
pcl::PyramidFeatureHistogram::ConstPtr
shared_ptr< const PyramidFeatureHistogram< PointFeature > > ConstPtr
Definition: pyramid_feature_matching.h:73
pcl::PyramidFeatureHistogram::getTargetDimensionRange
std::vector< std::pair< float, float > > getTargetDimensionRange()
Method for retrieving the target dimension range vector.
Definition: pyramid_feature_matching.h:101
pcl::PyramidFeatureHistogram::setTargetDimensionRange
void setTargetDimensionRange(std::vector< std::pair< float, float > > &dimension_range_target)
Method to set the target dimension range parameter.
Definition: pyramid_feature_matching.h:96
pcl::PyramidFeatureHistogram
Class that compares two sets of features by using a multiscale representation of the features inside ...
Definition: pyramid_feature_matching.h:67
pcl::PyramidFeatureHistogram::comparePyramidFeatureHistograms
static float comparePyramidFeatureHistograms(const PyramidFeatureHistogramPtr &pyramid_a, const PyramidFeatureHistogramPtr &pyramid_b)
Static method for comparing two pyramid histograms that returns a floating point value between 0 and ...
Definition: pyramid_feature_matching.hpp:50
pcl::PyramidFeatureHistogram::Ptr
shared_ptr< PyramidFeatureHistogram< PointFeature > > Ptr
Definition: pyramid_feature_matching.h:72
pcl::PyramidFeatureHistogram::compute
void compute()
The central method for inserting the feature set inside the pyramid and obtaining the complete pyrami...
Definition: pyramid_feature_matching.hpp:276
pcl::PyramidFeatureHistogram::FeatureRepresentationConstPtr
shared_ptr< const pcl::PointRepresentation< PointFeature > > FeatureRepresentationConstPtr
Definition: pyramid_feature_matching.h:75
pcl::PyramidFeatureHistogram::setPointRepresentation
void setPointRepresentation(const FeatureRepresentationConstPtr &feature_representation)
Provide a pointer to the feature representation to use to convert features to k-D vectors.
Definition: pyramid_feature_matching.h:107
pcl::PyramidFeatureHistogram::getInputDimensionRange
std::vector< std::pair< float, float > > getInputDimensionRange()
Method for retrieving the input dimension range vector.
Definition: pyramid_feature_matching.h:90
pcl::shared_ptr
boost::shared_ptr< T > shared_ptr
Alias for boost::shared_ptr.
Definition: pcl_macros.h:90
pcl::PyramidFeatureHistogram::setInputDimensionRange
void setInputDimensionRange(std::vector< std::pair< float, float > > &dimension_range_input)
Method for setting the input dimension range parameter.
Definition: pyramid_feature_matching.h:85