Point Cloud Library (PCL) 1.13.0
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
43namespace pcl {
44
45inline float
47{
49 //float ret = Sublinear_Norm(descriptor_, other.descriptor_, descriptor_size_);
50 ret /= static_cast<float> (descriptor_size_);
51 return (ret);
52}
53
54inline 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 std::copy(descriptor_, descriptor_ + 36, narf36.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
NARF (Normal Aligned Radial Features) is a point feature descriptor type for 3D data.
Definition: narf.h:66
int descriptor_size_
Definition: narf.h:285
void copyToNarf36(Narf36 &narf36) const
Copy the descriptor and pose to the point struct Narf36.
Definition: narf.hpp:54
Eigen::Affine3f transformation_
Definition: narf.h:279
float * descriptor_
Definition: narf.h:284
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
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 (intrinsic rotations, ZYX-convention) from the given transformatio...
Definition: eigen.hpp:594
float L1_Norm(FloatVectorT a, FloatVectorT b, int dim)
Compute the L1 norm of the vector between two points.
Definition: norms.hpp:88
Define standard C methods to calculate different norms.
A point structure representing the Narf descriptor.
float descriptor[36]