float difference(const Descriptor* desc1, const Descriptor* desc2, Descriptor& desc, float (*diff) (float, float) ) { // assuming desc is valid if( desc2 == 0){ desc.clear(); desc.m_na = desc1->size_a(); desc.m_nz = desc1->size_z(); desc.m_nr = desc1->size_r(); Matrixf *pm = new Matrixf( * desc1->getPage(0) ); pm->clone(); desc.m_vHistPtr.push_back(pm); return 0.0f; } else if( desc1 == desc2 ){ desc.clear(); desc.m_na = desc1->size_a(); desc.m_nz = desc1->size_z(); desc.m_nr = desc1->size_r(); Matrixf *pm = new Matrixf( desc.m_na * desc.m_nz, desc.m_nr ); pm->setAllZeros(); desc.m_vHistPtr.push_back(pm); return 0.0f; } else return difference(*desc1, *desc2, desc, diff); }
float difference(const Descriptor & desc1, const Descriptor & desc2, Descriptor& desc, float (*diff) (float, float) ){ size_t idx = 0; float mindiff = inf; size_t height = desc1.height(); size_t width = desc1.width(); float sum; for( size_t k = 0; k < desc1.page(); ++k) { // k: page # of flipped/rotated descriptors sum = 0.0f; for( size_t i = 0; i < height; ++i){ //i, iterates all zenith and azimuth angle bins for( size_t j = 0; j < width; ++j) //j iterates all radius bins sum += diff( desc1(i, j, 0), desc2(i,j, k)); } if( mindiff > sum){ idx = k; mindiff = sum; } } desc.clear(); Matrixf *pm = new Matrixf( *desc2.getPage( idx ) ); pm->clone(); *pm -= *desc1.getPage(0); // pm->getAbsoluteValue(); desc.m_vHistPtr.push_back( pm ); desc.m_na = desc1.size_a(); desc.m_nz = desc1.size_z(); desc.m_nr = desc1.size_r(); return mindiff / (desc1.sumWeight() + desc2.sumWeight()); }