flirtlib: CurvatureDetector.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 CURVATUREDETECTOR_H_
00024 #define CURVATUREDETECTOR_H_
00025 
00026 #include <feature/InterestPoint.h>
00027 #include <feature/Detector.h>
00028 #include <utils/Convolution.h>
00029 #include <utils/PeakFinder.h>
00030 #include <boost/graph/adjacency_matrix.hpp>
00031 #include <boost/graph/adjacency_list.hpp>
00032 #include <boost/graph/prim_minimum_spanning_tree.hpp>
00033 #include <boost/graph/johnson_all_pairs_shortest.hpp>
00034 #include <boost/graph/graph_utility.hpp>
00035 #include <vector>
00036 
00037  
00038 typedef boost::property<boost::vertex_distance_t, double> DistanceVertexProperty;
00039 typedef boost::property < boost::edge_weight_t, double > WeightEdgeProperty;
00040 
00041 typedef boost::adjacency_list < boost::vecS, boost::vecS, boost::undirectedS, DistanceVertexProperty, WeightEdgeProperty> Graph;
00042 typedef boost::adjacency_matrix < boost::undirectedS, DistanceVertexProperty, WeightEdgeProperty > MatrixGraph;
00043 typedef std::pair<unsigned int, unsigned int> GraphEdge;
00044 
00045 
00046 
00055 class CurvatureDetector: public Detector {
00056     public:
00066                 CurvatureDetector(const PeakFinder* peak, unsigned int scales = 5, double sigma = 0.2, double step = 1.4, unsigned int dmst = 4);
00067                 
00068                 virtual unsigned int detect(const LaserReading& reading, std::vector<InterestPoint*>& point) const;
00069                 
00082                 virtual unsigned int detect(const LaserReading& reading, std::vector<InterestPoint*>& points,
00083                                                 Graph& graph,
00084                                                 std::vector< std::vector<Point2D> >& operatorA,
00085                                                 std::vector< std::vector<double> >& signalDiff,
00086                                                 std::vector< std::vector<unsigned int> >& indexes) const;
00087                 
00088                 virtual unsigned int detect(const LaserReading& reading, std::vector<InterestPoint*>& point,
00089                                                 std::vector< double >& signal,
00090                                                 std::vector< std::vector<double> >& signalSmooth,
00091                                                 std::vector< std::vector<double> >& signalDiff,
00092                                                 std::vector< std::vector<unsigned int> >& indexes) const;
00093 
00105                 virtual void detect(const Graph& graph, const std::vector<Point2D>& graphPoints, std::vector< std::vector<Point2D> >& operatorA, 
00106                                                 std::vector< std::vector<double> >& signalDiff, std::vector< std::vector<unsigned int> >& indexes) const;
00107                 
00109                 inline void setScaleNumber(unsigned int scales)
00110                         {m_scaleNumber = scales; computeScaleBank();}
00111                 
00113                 inline void setDmst(unsigned int dmst)
00114                         {m_dmst = dmst;}
00115                 
00117                 inline void setBaseSigma(double sigma)
00118                         {m_baseSigma = sigma; computeScaleBank();}
00119                         
00121                 inline void setSigmaStep(double step) 
00122                         {m_sigmaStep = step; computeScaleBank();}
00123                 
00125                 inline void setPeakFinder(const PeakFinder* peak)
00126                         {m_peakFinder = peak;}
00127                         
00129                 inline void setUseMaxRange(bool use)
00130                         {m_useMaxRange = use;}
00131                 
00133                 inline unsigned int getScaleNumber() const
00134                         {return m_scaleNumber;}
00135                 
00137                 inline unsigned int getDmst() const
00138                         {return m_dmst;}
00139                 
00141                 inline const std::vector<double>& getScales() const
00142                         {return m_scales;}
00143                 
00145                 inline double getBaseSigma() const
00146                         {return m_baseSigma;}
00147                 
00149                 inline double getSigmaStep() const
00150                         {return m_sigmaStep;}
00151                 
00153                 inline const PeakFinder* getPeakFinder() const
00154                         {return m_peakFinder;}
00155                 
00157                 inline bool getUseMaxRange()
00158                         {return m_useMaxRange;}
00159                 
00160     protected:
00162                 virtual void computeGraph(const LaserReading& reading, std::vector<Point2D>& graphPoints, Graph& graph, std::vector<unsigned int>& maxRangeMapping) const;
00163                 
00165                 virtual unsigned int computeInterestPoints(const LaserReading& reading, const std::vector< std::vector<Point2D> >& operatorA, std::vector<InterestPoint*>& point, 
00166                                                         const std::vector< std::vector<unsigned int> >& indexes, std::vector<unsigned int>& maxRangeMapping) const;
00167                 
00169                 void computeScaleBank();
00170                 
00171                 const PeakFinder* m_peakFinder; 
00172                 unsigned int m_scaleNumber; 
00173                 double m_baseSigma; 
00174                 double m_sigmaStep; 
00175                 bool m_useMaxRange; 
00176                 unsigned int m_dmst; 
00177                 std::vector<double> m_scales; 
00178 };
00179 
00180 #endif