00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2010, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of Willow Garage, Inc. nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 * 00034 * Author: Bastian Steder 00035 */ 00036 00037 #include <iostream> 00038 #include <map> 00039 00040 namespace pcl { 00041 00042 inline float 00043 Narf::getDescriptorDistance(const Narf& other) const 00044 { 00045 float ret = L1_Norm(descriptor_, other.descriptor_, descriptor_size_); 00046 //float ret = Sublinear_Norm(descriptor_, other.descriptor_, descriptor_size_); 00047 ret /= static_cast<float> (descriptor_size_); 00048 return (ret); 00049 } 00050 00051 inline void Narf::copyToNarf36(Narf36& narf36) const 00052 { 00053 if (descriptor_size_ != 36) 00054 { 00055 std::cerr << __PRETTY_FUNCTION__ << ": descriptor size is not 36!\n"; 00056 return; 00057 } 00058 getTranslationAndEulerAngles(transformation_.inverse (), narf36.x, narf36.y, narf36.z, narf36.roll, narf36.pitch, narf36.yaw); 00059 memcpy(narf36.descriptor, descriptor_, 36*sizeof(*descriptor_)); 00060 } 00061 00062 //inline float Narf::getDescriptorDistance(const Narf& other) const 00063 //{ 00064 //float middle_value = 0.1f; 00065 //float normalization_factor1 = 1.0f/middle_value, 00066 //normalization_factor2 = 1.0f/(1.0f-middle_value); 00067 //const float* descriptor1_ptr = descriptor_; 00068 //const float* descriptor2_ptr = other.getDescriptor(); 00069 //float ret = 0; 00070 //for (int i=0; i<descriptor_size_; ++i) { 00071 //float diff = fabsf(*(descriptor2_ptr++) - *(descriptor1_ptr++)); 00072 //if (diff < middle_value) 00073 //{ 00074 //diff = diff*normalization_factor1; 00075 //diff = 0.5f*diff*diff; 00077 //} 00078 //else 00079 //{ 00080 //diff = (diff - middle_value)*normalization_factor2; 00081 //diff = 0.5f + 0.5f*diff; 00084 //} 00085 //ret += diff; 00086 //} 00087 //ret /= descriptor_size_; 00088 //return ret; 00089 //} 00090 00091 //inline float Narf::getDescriptorDistance(const Narf& other) const 00092 //{ 00093 //float max_diff_between_cells = 0.25; 00094 00095 //const float* descriptor1_ptr = descriptor_; 00096 //const float* descriptor2_ptr = other.getDescriptor(); 00097 //float ret = 0; 00098 //for (int i=0; i<descriptor_size_; ++i) { 00099 //ret += (std::min)(max_diff_between_cells, fabsf(*(descriptor2_ptr++) - *(descriptor1_ptr++))); 00100 //} 00101 //ret /= descriptor_size_*max_diff_between_cells; 00102 //return ret; 00103 //} 00104 00105 } // namespace end