cosine.cpp

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#include "cosine.h"
 
#include <cmath>
 
#include <SimoxUtility/algorithm/string.h>
 
#include <ArmarXCore/core/logging/Logging.h>
 
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;
    }
 
} // namespace armarx::aron::similarity