object_model_list.cpp

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/* \author Bastian Steder */


#include <narf_recognition/object_model_list.h>
#include <iostream>
using std::cout;
using std::cerr;
using std::vector;

namespace pcl
{

ObjectModelList::ObjectModelList () : BaseClass ()
{
}

ObjectModelList::~ObjectModelList ()
{
  while (!empty ())
  {
    delete back ();
    pop_back ();
  }
}

void ObjectModelList::extractNARFsForCompleteSurface (unsigned int descriptor_size, float size_in_world, bool rotation_invariant,
                                                    vector<vector<vector<Narf*>*>*>& features) const
{
  //MEASURE_FUNCTION_TIME;
  freeFeatureListMemory (features);
  for (const_iterator it=begin (); it!=end (); ++it)
  {
    features.push_back (new vector<vector<Narf*>*>);
    
    const ObjectModel& object_model = **it;
    vector<vector<Narf*>*>& features_for_current_model = *features.back ();
    
    object_model.extractNARFsForCompleteSurface (descriptor_size, size_in_world, rotation_invariant, features_for_current_model);
  }
}

void
ObjectModelList::extractNARFsForInterestPoints (unsigned int descriptor_size, float size_in_world,
                                               bool rotation_invariant, NarfKeypoint& interest_point_detector,
                                               vector<vector<vector<Narf*>*>*>& features) const
{
  //MEASURE_FUNCTION_TIME;
  freeFeatureListMemory (features);
  for (const_iterator it=begin (); it!=end (); ++it)
  {
    features.push_back (new vector<vector<Narf*>*>);
    
    const ObjectModel& object_model = **it;
    vector<vector<Narf*>*>& features_for_current_model = *features.back ();
    
    object_model.extractNARFsForInterestPoints (descriptor_size, size_in_world, rotation_invariant, interest_point_detector, features_for_current_model);
    
    //for (unsigned int view_idx=0; view_idx<features_for_current_model.size (); ++view_idx)
      //std::cout << "Extracted "<<features_for_current_model[view_idx]->size ()<<" features for model "
      //          << object_model.getName ()<<", view "<<view_idx<<".\n";
  }
}

float
ObjectModelList::getAverageModelRadius () const
{
  if (empty ())
    return 0.0f;
  float average_model_radius = 0.0f;
  for (size_t model_idx=0; model_idx<size (); ++model_idx)
    average_model_radius += at (model_idx)->getRadius ();
  average_model_radius /= float (size ()); 
  return average_model_radius;
}

float
ObjectModelList::getMaximumPlaneSize (float initial_max_plane_error) const
{
  float maximum_plane_size = 0.0f;
  for (size_t model_idx=0; model_idx<size (); ++model_idx)
    maximum_plane_size = std::max (maximum_plane_size, at (model_idx)->getMaximumPlaneSize (initial_max_plane_error));
  return maximum_plane_size;
}

} // namespace end