flirtlib: BetaGrid.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 BETAGRID_H_
00024 #define BETAGRID_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 
00042 class BetaGrid: public Descriptor{
00043     public:
00044                 virtual Descriptor* clone() const;
00045 
00051                 virtual double distance(const Descriptor* descriptor) const;
00052                 
00054                 inline const std::vector< std::vector< double > >& getHistogram() const
00055                         {return m_histogram;}
00056                 
00058                 inline std::vector< std::vector< double > >& getHistogram() 
00059                         {return m_histogram;}
00060                 
00062                 inline const std::vector< std::vector< double > >& getVariance() const
00063                         {return m_variance;}
00064                 
00066                 inline std::vector< std::vector< double > >& getVariance() 
00067                         {return m_variance;}
00068                 
00070                 inline const std::vector< std::vector< double > >& getHit() const
00071                         {return m_hit;}
00072                 
00074                 inline std::vector< std::vector< double > >& getHit() 
00075                         {return m_hit;}
00076                 
00078                 inline const std::vector< std::vector< double > >& getMiss() const
00079                         {return m_miss;}
00080                 
00082                 inline std::vector< std::vector< double > >& getMiss() 
00083                         {return m_miss;}
00084                 
00086                 inline const HistogramDistance<double>* getDistanceFunction() const
00087                         {return m_distanceFunction;}
00088                 
00090                 inline void setDistanceFunction(const HistogramDistance<double>* distanceFunction)
00091                         {m_distanceFunction = distanceFunction;}
00092                 
00093         protected:
00094                 const HistogramDistance<double> *m_distanceFunction; 
00095                 std::vector< std::vector< double > > m_histogram; 
00096                 std::vector< std::vector< double > > m_variance; 
00097                 std::vector< std::vector< double > > m_hit; 
00098                 std::vector< std::vector< double > > m_miss; 
00099 };
00100 
00101 
00111 class BetaGridGenerator: public DescriptorGenerator {
00112     public:
00120                 BetaGridGenerator(double minRho, double maxRho, unsigned int binRho, unsigned int binPhi);
00121                 
00131                 BetaGridGenerator(const std::vector<double>& rhoEdges, const std::vector<double>& phiEdges);
00132                 
00133                 virtual Descriptor* describe(const InterestPoint& point, const LaserReading& reading);
00134                 
00135                 virtual Descriptor* describe(const OrientedPoint2D& point, const LaserReading& reading);
00136 
00143                 void setEdges(double minRho, double maxRho, unsigned int binRho, unsigned int binPhi);
00144                 
00146                 inline double getMinRho() const
00147                         {return m_rhoEdges.front();}
00148                 
00150                 inline double getMaxRho() const
00151                         {return m_rhoEdges.back();}
00152                 
00154                 inline unsigned int getBinRho() const
00155                         {return m_rhoEdges.size() - 1;}
00156                 
00158                 inline unsigned int getBinPhi() const
00159                         {return m_phiEdges.size() - 1;}
00160                 
00162                 inline const std::vector<double>& getRhoEdges() const
00163                         {return m_rhoEdges;}
00164                 
00166                 inline const std::vector<double>& getPhiEdges() const
00167                         {return m_phiEdges;}
00168                 
00177                 inline void setEdges(const std::vector<double>& rhoEdges, const std::vector<double>& phiEdges)
00178                         {m_rhoEdges = rhoEdges; m_phiEdges = phiEdges;}
00179                 
00181                 inline const HistogramDistance<double>* getDistanceFunction() const
00182                         {return m_distanceFunction;}
00183                 
00185                 inline void setDistanceFunction(const HistogramDistance<double>* distanceFunction)
00186                         {m_distanceFunction = distanceFunction;}
00187                 
00188     protected:
00190                 bool intersectSegment2Segment(const Point2D& segment1Start, const Point2D& segment1End, const Point2D& segment2Start, const Point2D& segment2End);
00191                 
00193                 int intersectSegment2Arc(const Point2D& segmentStart, const Point2D& segmentEnd, const Point2D& arcStart, const Point2D& arcEnd, const Point2D& arcCenter);
00194                 
00195                 std::vector<double> m_rhoEdges; 
00196                 std::vector<double> m_phiEdges; 
00197                 const HistogramDistance<double> *m_distanceFunction; 
00198 };
00199 
00200 #endif