hog.h

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/*
 * Software License Agreement (Simplified BSD License)
 *
 * Point Cloud Library (PCL) - www.pointclouds.org
 * Copyright (c) 2013-, Open Perception, Inc.
 * Copyright (c) 2012, Piotr Dollar & Ron Appel.  [pdollar-at-caltech.edu]
 *
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met: 
 *
 * 1. Redistributions of source code must retain the above copyright notice, this
 *    list of conditions and the following disclaimer.
 *
 * 2. Redistributions in binary form must reproduce the above copyright notice,
 *    this list of conditions and the following disclaimer in the documentation
 *    and/or other materials provided with the distribution. 
 * 
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
 * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
 * ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
 * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 *
 * The views and conclusions contained in the software and documentation are those
 * of the authors and should not be interpreted as representing official policies,
 * either expressed or implied, of the FreeBSD Project.
 *
 * hog.h
 * Created on: Nov 30, 2012
 * Derived from Piotr Dollar's MATLAB Image&Video Toolbox      Version 3.00. 
 * Non-SSE version of the code provided by Matteo Munaro, Stefano Ghidoni and Stefano Michieletto
 */

#ifndef PCL_PEOPLE_HOG_H_
#define PCL_PEOPLE_HOG_H_

#include <pcl/pcl_macros.h>

namespace pcl
{ 
  namespace people
  {
    class PCL_EXPORTS HOG
    {
    public:

      HOG ();

      virtual ~HOG ();
      
      void 
      gradMag ( float *I, int h, int w, int d, float *M, float *O ) const;

      void 
      gradHist ( float *M, float *O, int h, int w, int bin_size, int n_orients, bool soft_bin, float *H) const;
      
      void 
      normalization ( float *H, int h, int w, int bin_size, int n_orients, float clip, float *G ) const;
      
      void
      compute (float *I, int h, int w, int n_channels, int bin_size, int n_orients, bool soft_bin, float *descriptor);
      
      void
      compute (float *I, float *descriptor) const;
      
        private:
    
      void 
      grad1 ( float *I, float *Gx, float *Gy, int h, int w, int x ) const; 
      
      float* 
      acosTable () const;
      
      void 
      gradQuantize ( float *O, float *M, int *O0, int *O1, float *M0, float *M1, int n_orients, int nb, int n, float norm ) const;
      
      void* 
      alMalloc ( size_t size, int alignment ) const;
      
      void 
      alFree (void* aligned) const;
      
    protected:
      
      int h_;
      
      int w_;
      
      int n_channels_;
      
      int bin_size_; 
      
      int n_orients_;
      
      bool soft_bin_;   
      
      float clip_; 
      
    };
  } /* namespace people */
} /* namespace pcl */
#endif /* PCL_PEOPLE_HOG_H_ */