narf.hpp
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00001 /*
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00034  * Author: Bastian Steder
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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


pcl
Author(s): Open Perception
autogenerated on Mon Oct 6 2014 03:15:46