pyramid_feature_matching.h

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/*
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2011, Alexandru-Eugen Ichim
 *                      Willow Garage, Inc
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 *     with the distribution.
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 * $Id: pyramid_feature_matching.h 4866 2012-03-01 02:45:17Z rusu $
 */

#ifndef PCL_PYRAMID_FEATURE_MATCHING_H_
#define PCL_PYRAMID_FEATURE_MATCHING_H_

#include <pcl/pcl_base.h>
#include <pcl/point_representation.h>

namespace pcl
{
  template <typename PointFeature>
  class PyramidFeatureHistogram : public PCLBase<PointFeature>
  {
    public:
      using PCLBase<PointFeature>::input_;

      typedef boost::shared_ptr<PyramidFeatureHistogram<PointFeature> > Ptr;
      typedef Ptr PyramidFeatureHistogramPtr;
      typedef boost::shared_ptr<const pcl::PointRepresentation<PointFeature> > FeatureRepresentationConstPtr;


      PyramidFeatureHistogram ();

      inline void
      setInputDimensionRange (std::vector<std::pair<float, float> > &dimension_range_input)
      { dimension_range_input_ = dimension_range_input; }

      inline std::vector<std::pair<float, float> >
      getInputDimensionRange () { return dimension_range_input_; }

      inline void
      setTargetDimensionRange (std::vector<std::pair<float, float> > &dimension_range_target)
      { dimension_range_target_ = dimension_range_target; }

      inline std::vector<std::pair<float, float> >
      getTargetDimensionRange () { return dimension_range_target_; }

      inline void
      setPointRepresentation (const FeatureRepresentationConstPtr& feature_representation) { feature_representation_ = feature_representation; }

      inline FeatureRepresentationConstPtr const
      getPointRepresentation () { return feature_representation_; }

      void
      compute ();

      inline bool
      isComputed () { return is_computed_; }

      static float
      comparePyramidFeatureHistograms (const PyramidFeatureHistogramPtr &pyramid_a,
                                       const PyramidFeatureHistogramPtr &pyramid_b);


    private:
      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_;

      bool
      initializeHistogram ();

      void
      convertFeatureToVector (const PointFeature &feature,
                              std::vector<float> &feature_vector);

      void
      addFeature (std::vector<float> &feature);

      inline unsigned int&
      at (std::vector<size_t> &access,
          size_t &level);

      inline unsigned int&
      at (std::vector<float> &feature,
          size_t &level);

      struct PyramidFeatureHistogramLevel
      {
        PyramidFeatureHistogramLevel () :
          hist (), 
          bins_per_dimension (),
          bin_step ()
        {
        }

        PyramidFeatureHistogramLevel (std::vector<size_t> &a_bins_per_dimension, std::vector<float> &a_bin_step) : 
          hist (), 
          bins_per_dimension (a_bins_per_dimension),
          bin_step (a_bin_step)
        {
          initializeHistogramLevel ();
        }

        void
        initializeHistogramLevel ();

        std::vector<unsigned int> hist;
        std::vector<size_t> bins_per_dimension;
        std::vector<float> bin_step;
      };
      std::vector<PyramidFeatureHistogramLevel> hist_levels;
  };
}

#endif /* PCL_PYRAMID_FEATURE_MATCHING_H_ */