Point Cloud Library (PCL) 1.14.0
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multi_channel_2d_comparison_feature_handler.h
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37
38#pragma once
39
40#include <pcl/common/common.h>
41#include <pcl/ml/feature_handler.h>
42#include <pcl/ml/multi_channel_2d_comparison_feature.h>
43#include <pcl/ml/multi_channel_2d_data_set.h>
44#include <pcl/ml/multiple_data_2d_example_index.h>
45#include <pcl/ml/point_xy_32f.h>
46#include <pcl/ml/point_xy_32i.h>
47
48#include <istream>
49#include <ostream>
50
51namespace pcl {
52
53/** Feature utility class that handles the creation and evaluation of RGBD
54 * comparison features. */
55template <class DATA_TYPE, std::size_t NUM_OF_CHANNELS>
57: public pcl::FeatureHandler<pcl::MultiChannel2DComparisonFeature<pcl::PointXY32i>,
58 pcl::MultiChannel2DDataSet<DATA_TYPE, NUM_OF_CHANNELS>,
59 pcl::MultipleData2DExampleIndex> {
60
61public:
62 /** Constructor. */
63 MultiChannel2DComparisonFeatureHandler(const int feature_window_width,
64 const int feature_window_height)
65 : feature_window_width_(feature_window_width)
66 , feature_window_height_(feature_window_height)
67 {}
68
69 /** Sets the feature window size.
70 *
71 * \param[in] width the width of the feature window
72 * \param[in] height the height of the feature window
73 */
74 inline void
75 setFeatureWindowSize(int width, int height)
76 {
77 feature_window_width_ = width;
78 feature_window_height_ = height;
79 }
80
81 /** Creates random features.
82 *
83 * \param[in] num_of_features the number of random features to create
84 * \param[out] features the destination for the created random features
85 */
86 inline void
88 const std::size_t num_of_features,
90 {
91 features.resize(num_of_features);
92 for (std::size_t feature_index = 0; feature_index < num_of_features;
93 ++feature_index) {
94 features[feature_index].p1 = PointXY32i::randomPoint(-feature_window_width_ / 2,
95 feature_window_width_ / 2,
96 -feature_window_height_ / 2,
97 feature_window_height_ / 2);
98 features[feature_index].p2 = PointXY32i::randomPoint(-feature_window_width_ / 2,
99 feature_window_width_ / 2,
100 -feature_window_height_ / 2,
101 feature_window_height_ / 2);
102 features[feature_index].channel = static_cast<unsigned char>(
103 NUM_OF_CHANNELS * (static_cast<float>(rand()) / (RAND_MAX + 1)));
104 }
105 }
106
107 /** Evaluates a feature for a set of examples on the specified data set.
108 *
109 * \param[in] feature the feature to evaluate
110 * \param[in] data_set the data set the feature is evaluated on
111 * \param[in] examples the examples the feature is evaluated for
112 * \param[out] results the destination for the evaluation results
113 * \param[out] flags the destination for the flags corresponding to the evaluation
114 * results
115 */
116 inline void
119 std::vector<MultipleData2DExampleIndex>& examples,
120 std::vector<float>& results,
121 std::vector<unsigned char>& flags) const
122 {
123 results.resize(examples.size());
124 flags.resize(examples.size());
125 for (int example_index = 0; example_index < examples.size(); ++example_index) {
126 const MultipleData2DExampleIndex& example = examples[example_index];
127
128 evaluateFeature(
129 feature, data_set, example, results[example_index], flags[example_index]);
130 }
131 }
132
133 /** Evaluates a feature for one examples on the specified data set.
134 *
135 * \param[in] feature the feature to evaluate
136 * \param[in] data_set the data set the feature is evaluated on
137 * \param[in] example the example the feature is evaluated for
138 * \param[out] result the destination for the evaluation result
139 * \param[out] flag the destination for the flag corresponding to the evaluation
140 * result
141 */
142 inline void
145 const MultipleData2DExampleIndex& example,
146 float& result,
147 unsigned char& flag) const
148 {
149 const int center_col_index = example.x;
150 const int center_row_index = example.y;
151
152 const std::size_t p1_col =
153 static_cast<std::size_t>(feature.p1.x + center_col_index);
154 const std::size_t p1_row =
155 static_cast<std::size_t>(feature.p1.y + center_row_index);
156
157 const std::size_t p2_col =
158 static_cast<std::size_t>(feature.p2.x + center_col_index);
159 const std::size_t p2_row =
160 static_cast<std::size_t>(feature.p2.y + center_row_index);
161
162 const unsigned char channel = feature.channel;
163
164 const float value1 =
165 static_cast<float>(data_set(example.data_set_id, p1_col, p1_row)[channel]);
166 const float value2 =
167 static_cast<float>(data_set(example.data_set_id, p2_col, p2_row)[channel]);
168
169 result = value1 - value2;
170 flag = (std::isfinite(value1) && std::isfinite(value2)) ? 0 : 1;
171 }
172
173 /** Generates code for feature evaluation.
174 *
175 * \param[in] feature the feature for which code is generated
176 * \param[out] stream the destination for the generated code
177 */
178 void
180 std::ostream& stream) const
181 {
182 stream << "ERROR: RegressionVarianceStatsEstimator does not implement "
183 "generateCodeForBranchIndex(...)";
184 // stream << "const float value = ( (*dataSet)(dataSetId, centerY+" << feature.p1.y
185 // << ", centerX+" << feature.p1.x << ")[" << static_cast<int>(feature.colorChannel)
186 // << "]"
187 // << " - " << "(*dataSet)(dataSetId, centerY+" << feature.p2.y << ", centerX+" <<
188 // feature.p2.x << ")[" << static_cast<int>(feature.colorChannel) << "] );" <<
189 // ::std::endl;
190 }
191
192private:
193 /** The width of the feature window. */
194 int feature_window_width_;
195 /** The height of the feature window. */
196 int feature_window_height_;
197};
198
199/** Feature utility class that handles the creation and evaluation of RGBD
200 * comparison features. */
201template <class DATA_TYPE,
202 std::size_t NUM_OF_CHANNELS,
203 std::size_t SCALE_CHANNEL,
204 bool INVERT_SCALE>
206: public pcl::FeatureHandler<pcl::MultiChannel2DComparisonFeature<pcl::PointXY32f>,
207 pcl::MultiChannel2DDataSet<DATA_TYPE, NUM_OF_CHANNELS>,
208 pcl::MultipleData2DExampleIndex> {
209
210public:
211 /** Constructor. */
212 ScaledMultiChannel2DComparisonFeatureHandler(const int feature_window_width,
213 const int feature_window_height)
214 : feature_window_width_(feature_window_width)
215 , feature_window_height_(feature_window_height)
216 {}
217
218 /** Sets the feature window size.
219 *
220 * \param[in] width the width of the feature window
221 * \param[in] height the height of the feature window
222 */
223 inline void
224 setFeatureWindowSize(int width, int height)
225 {
226 feature_window_width_ = width;
227 feature_window_height_ = height;
228 }
229
230 /** Creates random features.
231 *
232 * \param[in] num_of_features the number of random features to create
233 * \param[out] features the destination for the created random features
234 */
235 inline void
237 const std::size_t num_of_features,
238 std::vector<MultiChannel2DComparisonFeature<PointXY32f>>& features)
239 {
240 features.resize(num_of_features);
241 for (std::size_t feature_index = 0; feature_index < num_of_features;
242 ++feature_index) {
243 features[feature_index].p1 = PointXY32f::randomPoint(-feature_window_width_ / 2,
244 feature_window_width_ / 2,
245 -feature_window_height_ / 2,
246 feature_window_height_ / 2);
247 features[feature_index].p2 = PointXY32f::randomPoint(-feature_window_width_ / 2,
248 feature_window_width_ / 2,
249 -feature_window_height_ / 2,
250 feature_window_height_ / 2);
251 features[feature_index].channel = static_cast<unsigned char>(
252 NUM_OF_CHANNELS * (static_cast<float>(rand()) / (RAND_MAX + 1)));
253 }
254 }
255
256 /** Evaluates a feature for a set of examples on the specified data set.
257 *
258 * \param[in] feature the feature to evaluate
259 * \param[in] data_set the data set the feature is evaluated on
260 * \param[in] examples the examples the feature is evaluated for
261 * \param[out] results the destination for the evaluation results
262 * \param[out] flags the destination for the flags corresponding to the evaluation
263 * results
264 */
265 inline void
268 std::vector<MultipleData2DExampleIndex>& examples,
269 std::vector<float>& results,
270 std::vector<unsigned char>& flags) const
271 {
272 results.resize(examples.size());
273 flags.resize(examples.size());
274 for (int example_index = 0; example_index < examples.size(); ++example_index) {
275 const MultipleData2DExampleIndex& example = examples[example_index];
276
277 evaluateFeature(
278 feature, data_set, example, results[example_index], flags[example_index]);
279 }
280 }
281
282 /** Evaluates a feature for one examples on the specified data set.
283 *
284 * \param[in] feature the feature to evaluate
285 * \param[in] data_set the data set the feature is evaluated on
286 * \param[in] example the example the feature is evaluated for
287 * \param[out] result the destination for the evaluation result
288 * \param[out] flag the destination for the flag corresponding to the evaluation
289 * result
290 */
291 inline void
294 const MultipleData2DExampleIndex& example,
295 float& result,
296 unsigned char& flag) const
297 {
298 const int center_col_index = example.x;
299 const int center_row_index = example.y;
300
301 float scale;
302 if (INVERT_SCALE)
303 scale = 1.0f / static_cast<float>(data_set(example.data_set_id,
304 center_col_index,
305 center_row_index)[SCALE_CHANNEL]);
306 else
307 scale = static_cast<float>(data_set(
308 example.data_set_id, center_col_index, center_row_index)[SCALE_CHANNEL]);
309
310 const std::size_t p1_col =
311 static_cast<std::size_t>(scale * feature.p1.x + center_col_index);
312 const std::size_t p1_row =
313 static_cast<std::size_t>(scale * feature.p1.y + center_row_index);
314
315 const std::size_t p2_col =
316 static_cast<std::size_t>(scale * feature.p2.x + center_col_index);
317 const std::size_t p2_row =
318 static_cast<std::size_t>(scale * feature.p2.y + center_row_index);
319
320 const unsigned char channel = feature.channel;
321
322 const float value1 =
323 static_cast<float>(data_set(example.data_set_id, p1_col, p1_row)[channel]);
324 const float value2 =
325 static_cast<float>(data_set(example.data_set_id, p2_col, p2_row)[channel]);
326
327 result = value1 - value2;
328 flag = (std::isfinite(value1) && std::isfinite(value2)) ? 0 : 1;
329 }
330
331 /** Generates code for feature evaluation.
332 *
333 * \param[in] feature the feature for which code is generated
334 * \param[out] stream the destination for the generated code
335 */
336 void
338 std::ostream& stream) const
339 {
340 stream << "ERROR: ScaledMultiChannel2DComparisonFeatureHandler does not implement "
341 "generateCodeForBranchIndex(...)"
342 << std::endl;
343
344 // pcl::PointXY32f p1 = feature.p1;
345 // pcl::PointXY32f p2 = feature.p2;
346
347 // stream << "const float eval_value = data_ptr + " << p1.x << " + " << p1.y << " *
348 // width;
349
350 // stream << "const float value = ( (*dataSet)(dataSetId, centerY+" << feature.p1.y
351 // << ", centerX+" << feature.p1.x << ")[" << static_cast<int>(feature.colorChannel)
352 // << "]"
353 // << " - " << "(*dataSet)(dataSetId, centerY+" << feature.p2.y << ", centerX+" <<
354 // feature.p2.x << ")[" << static_cast<int>(feature.colorChannel) << "] );" <<
355 // ::std::endl;
356 }
357
358private:
359 /** The width of the feature window. */
360 int feature_window_width_;
361 /** The height of the feature window. */
362 int feature_window_height_;
363};
364
365template <class DATA_TYPE,
366 std::size_t NUM_OF_CHANNELS,
367 std::size_t SCALE_CHANNEL,
368 bool INVERT_SCALE>
370: public pcl::FeatureHandlerCodeGenerator<
371 pcl::MultiChannel2DComparisonFeature<pcl::PointXY32f>,
372 pcl::MultiChannel2DDataSet<DATA_TYPE, NUM_OF_CHANNELS>,
373 pcl::MultipleData2DExampleIndex> {
374public:
376
377 void
378 generateEvalFunctionCode(std::ostream& stream) const;
379
380 void
381 generateEvalCode(const MultiChannel2DComparisonFeature<PointXY32f>& feature,
382 std::ostream& stream) const;
383};
384
385template <class DATA_TYPE,
386 std::size_t NUM_OF_CHANNELS,
387 std::size_t SCALE_CHANNEL,
388 bool INVERT_SCALE>
389void
390ScaledMultiChannel2DComparisonFeatureHandlerCCodeGenerator<
391 DATA_TYPE,
392 NUM_OF_CHANNELS,
393 SCALE_CHANNEL,
394 INVERT_SCALE>::generateEvalFunctionCode(std::ostream& stream) const
395{
396 if (NUM_OF_CHANNELS == 1 && SCALE_CHANNEL == 0 && INVERT_SCALE) {
397 stream << "const float scale = 1.0f / static_cast<float> (*data_ptr);"
398 << std::endl;
399 stream << "" << std::endl;
400 stream << "struct LocalFeatureHandler" << std::endl;
401 stream << "{" << std::endl;
402 stream << " static inline void eval (" << typeid(DATA_TYPE).name()
403 << " * a_ptr, const float a_x1, const float a_y1, const float a_x2, const "
404 "float a_y2, const float a_scale, const int a_width, float & a_result, "
405 "unsigned char & a_flags)"
406 << std::endl;
407 stream << " {" << std::endl;
408 stream << " a_result = *(a_ptr + static_cast<int> (a_scale*a_x1) + "
409 "(static_cast<int> (a_scale*a_y1)*a_width)) - *(a_ptr + static_cast<int> "
410 "(a_scale*a_x2) + (static_cast<int> (a_scale*a_y2)*a_width));"
411 << std::endl;
412 stream << " }" << std::endl;
413 stream << "};" << std::endl;
414 }
415 else {
416 stream << "ERROR: generateEvalFunctionCode not implemented" << std::endl;
417 }
418}
419
420template <class DATA_TYPE,
421 std::size_t NUM_OF_CHANNELS,
422 std::size_t SCALE_CHANNEL,
423 bool INVERT_SCALE>
424void
426 NUM_OF_CHANNELS,
427 SCALE_CHANNEL,
428 INVERT_SCALE>::
429 generateEvalCode(const MultiChannel2DComparisonFeature<PointXY32f>& feature,
430 std::ostream& stream) const
431{
432 stream << "LocalFeatureHandler::eval (data_ptr, " << feature.p1.x << ", "
433 << feature.p1.y << ", " << feature.p2.x << ", " << feature.p2.y << ", "
434 << "scale, width, result, flags);" << std::endl;
435}
436
443
450
453
454} // namespace pcl
Utility class interface which is used for creating and evaluating features.
Feature utility class that handles the creation and evaluation of RGBD comparison features.
void evaluateFeature(const MultiChannel2DComparisonFeature< PointXY32i > &feature, MultiChannel2DDataSet< DATA_TYPE, NUM_OF_CHANNELS > &data_set, std::vector< MultipleData2DExampleIndex > &examples, std::vector< float > &results, std::vector< unsigned char > &flags) const
Evaluates a feature for a set of examples on the specified data set.
void setFeatureWindowSize(int width, int height)
Sets the feature window size.
void evaluateFeature(const MultiChannel2DComparisonFeature< PointXY32i > &feature, MultiChannel2DDataSet< DATA_TYPE, NUM_OF_CHANNELS > &data_set, const MultipleData2DExampleIndex &example, float &result, unsigned char &flag) const
Evaluates a feature for one examples on the specified data set.
MultiChannel2DComparisonFeatureHandler(const int feature_window_width, const int feature_window_height)
Constructor.
void generateCodeForEvaluation(const MultiChannel2DComparisonFeature< PointXY32i > &feature, std::ostream &stream) const
Generates code for feature evaluation.
void createRandomFeatures(const std::size_t num_of_features, std::vector< MultiChannel2DComparisonFeature< PointXY32i > > &features)
Creates random features.
Feature for comparing two sample points in 2D multi-channel data.
unsigned char channel
Specifies which channel is used for comparison.
Holds a set of two-dimensional multi-channel data.
Feature utility class that handles the creation and evaluation of RGBD comparison features.
void evaluateFeature(const MultiChannel2DComparisonFeature< PointXY32f > &feature, MultiChannel2DDataSet< DATA_TYPE, NUM_OF_CHANNELS > &data_set, std::vector< MultipleData2DExampleIndex > &examples, std::vector< float > &results, std::vector< unsigned char > &flags) const
Evaluates a feature for a set of examples on the specified data set.
void evaluateFeature(const MultiChannel2DComparisonFeature< PointXY32f > &feature, MultiChannel2DDataSet< DATA_TYPE, NUM_OF_CHANNELS > &data_set, const MultipleData2DExampleIndex &example, float &result, unsigned char &flag) const
Evaluates a feature for one examples on the specified data set.
void generateCodeForEvaluation(const MultiChannel2DComparisonFeature< PointXY32f > &feature, std::ostream &stream) const
Generates code for feature evaluation.
void createRandomFeatures(const std::size_t num_of_features, std::vector< MultiChannel2DComparisonFeature< PointXY32f > > &features)
Creates random features.
void setFeatureWindowSize(int width, int height)
Sets the feature window size.
ScaledMultiChannel2DComparisonFeatureHandler(const int feature_window_width, const int feature_window_height)
Constructor.
Define standard C methods and C++ classes that are common to all methods.
MultiChannel2DComparisonFeatureHandler< float, 4 > RGBD2DComparisonFeatureHandler
ScaledMultiChannel2DComparisonFeatureHandler< float, 4, 3, true > ScaledRGBD2DComparisonFeatureHandler
ScaledMultiChannel2DComparisonFeatureHandlerCCodeGenerator< float, 1, 0, true > ScaledDepth2DComparisonFeatureHandlerCCodeGenerator
ScaledMultiChannel2DComparisonFeatureHandler< float, 2, 1, true > ScaledIntensityDepth2DComparisonFeatureHandler
MultiChannel2DComparisonFeatureHandler< float, 3 > RGB2DComparisonFeatureHandler
ScaledMultiChannel2DComparisonFeatureHandler< float, 1, 0, true > ScaledDepth2DComparisonFeatureHandler
MultiChannel2DComparisonFeatureHandler< float, 1 > Depth2DComparisonFeatureHandler
MultiChannel2DComparisonFeatureHandler< float, 2 > IntensityDepth2DComparisonFeatureHandler
Example index for a set of 2D data blocks.