Jafar: modules/sams/include/sams/feature.hpp Source File

00001 /* $Id$ */
00002 
00003 #ifndef SAMS_FEATURE_HPP
00004 #define SAMS_FEATURE_HPP
00005 
00006 #include <cmath>
00007 #include <vector>
00008 #include "jmath/jblas.hpp"
00009 #include "kernel/jafarDebug.hpp"
00010 
00011 namespace jafar {
00012   namespace sams {
00013     
00014 
00015     typedef enum FeatureType {
00016       SSAL,
00017       DOG
00018     };
00019     
00020     class Feature {
00021     public:
00022       FeatureType type;
00023       
00024       jblas::vec app;
00025       jblas::vec info;
00026 
00027       Feature() : app(),
00028                   info(jblas::zero_vec(8)) {
00029         info(2) = 1.0;
00030                   };
00031 
00032       Feature(const Feature& f_) {
00033   app = f_.app;
00034   info = f_.info;
00035       };
00036 
00037       inline double x() const { return info(0); };
00038       inline double y() const { return info(1); };
00039       inline double s() const { return info(3); };
00040       inline double o() const { return info(4); };
00041       inline double hd() const { return info(5); };
00042       inline double wd() const { return info(6); };
00043       inline double yd() const { return info(7); };
00044       inline jblas::vec2 const pt() const { 
00045   return ublas::project(info,ublas::range(0,2));
00046       };
00047       
00048       inline jblas::vec3 const h_pt() const {
00049         return ublas::project(info,ublas::range(0,3));
00050       };  
00051         
00052       inline double &x() { return info(0); };
00053       inline double &y() { return info(1); };
00054       inline double &s() { return info(3); };
00055       inline double &o() { return info(4); };
00056       inline double &hd() { return info(5); };
00057       inline double &wd() { return info(6); };
00058       inline double &yd() { return info(7); };
00059 
00060       inline bool operator<(const Feature& f_) const {
00061   return ( yd() < f_.yd() );
00062       };
00063 
00064       inline bool operator>(const Feature& f_) const {
00065   return ( yd() > f_.yd() );
00066       };
00067 
00068       inline Feature& operator=(const Feature& f_) {
00069         app = f_.app;
00070   info = f_.info;
00071   return *this;
00072       };
00073 
00074       inline double app_dist(const Feature& f_) const {
00075   return ublas::norm_2(app-f_.app);
00076       };
00077       
00078       inline double si_dist(const Feature& f_) const {
00079   return sqrt(pow(x()-f_.x(),2)+pow(y()-f_.y(),2))/sqrt(s()*s()+f_.s()*f_.s());
00080       };
00081 
00082       inline double angle(const Feature& f_) const {
00083   return atan2(f_.y()-y(),f_.x()-x());
00084       };
00085 
00086       double appSimilarity(const Feature& f_) const;
00087             
00088     }; // class Feature
00089 
00090     
00091   } // namespace sams
00092 } //namespace jafar
00093 
00094 #endif // SAMS_FEATURE_HPP