flirtlib: ShapeContext.h Source File

00001 /*****************************************************************
00002  *
00003  * This file is part of the FLIRTLib project
00004  *
00005  * FLIRTLib Copyright (c) 2010 Gian Diego Tipaldi and Kai O. Arras 
00006  *
00007  * This software is licensed under the "Creative Commons 
00008  * License (Attribution-NonCommercial-ShareAlike 3.0)" 
00009  * and is copyrighted by Gian Diego Tipaldi and Kai O. Arras 
00010  * 
00011  * Further information on this license can be found at:
00012  * http://creativecommons.org/licenses/by-nc-sa/3.0/
00013  * 
00014  * FLIRTLib is distributed in the hope that it will be useful,
00015  * but WITHOUT ANY WARRANTY; without even the implied 
00016  * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR
00017  * PURPOSE.  
00018  *
00019  *****************************************************************/
00020 
00021 
00022 
00023 #ifndef SHAPECONTEXT_H_
00024 #define SHAPECONTEXT_H_
00025 
00026 #include <feature/Descriptor.h>
00027 #include <feature/InterestPoint.h>
00028 #include <sensors/LaserReading.h>
00029 #include <utils/HistogramDistances.h>
00030 #include <vector>
00031 
00041 class ShapeContext: public Descriptor{
00042     public:
00043                 virtual Descriptor* clone() const;
00044 
00050                 virtual double distance(const Descriptor* descriptor) const;
00051         
00053                 inline const std::vector< std::vector< double > >& getHistogram() const
00054                         {return m_histogram;}
00055         
00057                 inline std::vector< std::vector< double > >& getHistogram() 
00058                         {return m_histogram;}
00059         
00061                 inline const HistogramDistance<double>* getDistanceFunction() const
00062                         {return m_distanceFunction;}
00063                 
00065                 inline void setDistanceFunction(const HistogramDistance<double>* distanceFunction)
00066                         {m_distanceFunction = distanceFunction;}
00067                 
00068     protected:
00069                 const HistogramDistance<double> *m_distanceFunction; 
00070                 std::vector< std::vector< double > > m_histogram;       
00071 };
00072 
00082 class ShapeContextGenerator: public DescriptorGenerator {
00083     public:
00091                 ShapeContextGenerator(double minRho, double maxRho, unsigned int binRho, unsigned int binPhi);
00092                 
00102                 ShapeContextGenerator(const std::vector<double>& rhoEdges, const std::vector<double>& phiEdges);
00103                 
00104                 virtual Descriptor* describe(const InterestPoint& point, const LaserReading& reading);
00105                 
00106                 virtual Descriptor* describe(const OrientedPoint2D& point, const LaserReading& reading);
00107 
00114                 void setEdges(double minRho, double maxRho, unsigned int binRho, unsigned int binPhi);
00115                 
00117                 inline double getMinRho() const
00118                         {return m_rhoEdges.front();}
00119                 
00121                 inline double getMaxRho() const
00122                         {return m_rhoEdges.back();}
00123                 
00125                 inline unsigned int getBinRho() const
00126                         {return m_rhoEdges.size() - 1;}
00127                 
00129                 inline unsigned int getBinPhi() const
00130                         {return m_phiEdges.size() - 1;}
00131                 
00133                 inline const std::vector<double>& getRhoEdges() const
00134                         {return m_rhoEdges;}
00135                 
00137                 inline const std::vector<double>& getPhiEdges() const
00138                         {return m_phiEdges;}
00139                 
00148                 inline void setEdges(const std::vector<double>& rhoEdges, const std::vector<double>& phiEdges)
00149                         {m_rhoEdges = rhoEdges; m_phiEdges = phiEdges;}
00150                 
00152                 inline const HistogramDistance<double>* getDistanceFunction() const
00153                         {return m_distanceFunction;}
00154                 
00156                 inline void setDistanceFunction(const HistogramDistance<double>* distanceFunction)
00157                         {m_distanceFunction = distanceFunction;}
00158         
00159     protected:
00160                 std::vector<double> m_rhoEdges; 
00161                 std::vector<double> m_phiEdges; 
00162                 const HistogramDistance<double> *m_distanceFunction; 
00163 };
00164 
00165 #endif