From 7c8cd71839ccc802d7a6377ff6045849a899e033 Mon Sep 17 00:00:00 2001
From: uhfpm_plewnia <uhfpm@student.kit.edu>
Date: Thu, 6 Jul 2023 12:24:53 +0200
Subject: [PATCH] added cosine classes for aron/similarity
---
.../libraries/aron/similarity/cosine.cpp | 72 +++++++++++++++++++
.../libraries/aron/similarity/cosine.h | 13 ++++
2 files changed, 85 insertions(+)
create mode 100644 source/RobotAPI/libraries/aron/similarity/cosine.cpp
create mode 100644 source/RobotAPI/libraries/aron/similarity/cosine.h
diff --git a/source/RobotAPI/libraries/aron/similarity/cosine.cpp b/source/RobotAPI/libraries/aron/similarity/cosine.cpp
new file mode 100644
index 000000000..396ea6613
--- /dev/null
+++ b/source/RobotAPI/libraries/aron/similarity/cosine.cpp
@@ -0,0 +1,72 @@
+#include "cosine.h"
+
+#include <SimoxUtility/algorithm/string.h>
+#include <cmath>
+
+namespace armarx::aron::similarity
+{
+ double
+ cosine::compute_similarity(const aron::data::NDArrayPtr p1, const aron::data::NDArrayPtr p2)
+ {
+ //this does only work for RGB images not RGBDepth at the moment!
+ int width = p1->getShape().at(0);
+ int height = p1->getShape().at(1);
+ int dimensions = p1->getShape().at(2);
+ ARMARX_CHECK(dimensions == p2->getShape().at(2));
+ if(dimensions > 3){
+ ARMARX_INFO << "Trying to calculate cosine similarity for more than 3 channels, only first three channels will be looked at";
+ }
+ Eigen::MatrixXf m1r(width, height);
+ Eigen::MatrixXf m2r(width, height);
+ Eigen::MatrixXf m1g(width, height);
+ Eigen::MatrixXf m2g(width, height);
+ Eigen::MatrixXf m1b(width, height);
+ Eigen::MatrixXf m2b(width, height);
+
+ auto image1 = p1->getDataAsVector();
+ auto image2 = p2->getDataAsVector();
+
+
+ for(int x = 0; x < width; x++){
+ for(int y = 0; y < height; y++){
+ //R-value matices:
+ int index = x + width * (y + 0 * height);
+ double element1 = image1.at(index);
+ double element2 = image2.at(index);
+ m1r(x, y) = element1;
+ m2r(x, y) = element2;
+ //G-value matices:
+ index = x + width * (y + 1 * height);
+ element1 = image1.at(index);
+ element2 = image2.at(index);
+ m1g(x, y) = element1;
+ m2g(x, y) = element2;
+ //B-value matices:
+ index = x + width * (y + 2 * height);
+ element1 = image1.at(index);
+ element2 = image2.at(index);
+ m1b(x, y) = element1;
+ m2b(x, y) = element2;
+ }
+ }
+
+
+ double dotProductR = (m1r.array() * m2r.array()).sum();
+ double normProductR = m1r.norm() * m2r.norm();
+ double cosineR = 1.0 - (dotProductR / normProductR);
+ //ARMARX_INFO << VAROUT(cosineR);
+
+ double dotProductG = (m1g.array() * m2g.array()).sum();
+ double normProductG = m1g.norm() * m2g.norm();
+ double cosineG = 1.0 - (dotProductG / normProductG);
+ //ARMARX_INFO << VAROUT(cosineG);
+
+ double dotProductB = (m1b.array() * m2b.array()).sum();
+ double normProductB = m1b.norm() * m2b.norm();
+ double cosineB = 1.0 - (dotProductB / normProductB);
+ //ARMARX_INFO << VAROUT(cosineB);
+
+ return (cosineR + cosineG + cosineB)/ 3;
+ }
+
+}
diff --git a/source/RobotAPI/libraries/aron/similarity/cosine.h b/source/RobotAPI/libraries/aron/similarity/cosine.h
new file mode 100644
index 000000000..8a5e776ff
--- /dev/null
+++ b/source/RobotAPI/libraries/aron/similarity/cosine.h
@@ -0,0 +1,13 @@
+#pragma once
+
+#include <algorithm>
+#include <map>
+#include <vector>
+
+#include <RobotAPI/libraries/aron/core/data/variant/All.h>
+
+namespace armarx::aron::similarity::cosine
+{
+ double compute_similarity(const aron::data::NDArrayPtr p1, const aron::data::NDArrayPtr p2);
+
+}
--
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