Point Cloud Library (PCL)
1.3.1
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00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2011, Alexandru-Eugen Ichim 00005 * Willow Garage, Inc 00006 * All rights reserved. 00007 * 00008 * Redistribution and use in source and binary forms, with or without 00009 * modification, are permitted provided that the following conditions 00010 * are met: 00011 * 00012 * * Redistributions of source code must retain the above copyright 00013 * notice, this list of conditions and the following disclaimer. 00014 * * Redistributions in binary form must reproduce the above 00015 * copyright notice, this list of conditions and the following 00016 * disclaimer in the documentation and/or other materials provided 00017 * with the distribution. 00018 * * Neither the name of Willow Garage, Inc. nor the names of its 00019 * contributors may be used to endorse or promote products derived 00020 * from this software without specific prior written permission. 00021 * 00022 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00023 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00024 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00025 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00026 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00027 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00028 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00029 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00030 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00031 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00032 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00033 * POSSIBILITY OF SUCH DAMAGE. 00034 * 00035 * $Id: statistical_multiscale_interest_region_extraction.h 3022 2011-11-01 03:42:22Z rusu $ 00036 */ 00037 00038 #ifndef STATISTICAL_MULTISCALE_INTEREST_REGION_EXTRACTION_H_ 00039 #define STATISTICAL_MULTISCALE_INTEREST_REGION_EXTRACTION_H_ 00040 00041 #include <pcl/pcl_base.h> 00042 #include <pcl/point_types.h> 00043 #include <list> 00044 00045 00046 namespace pcl 00047 { 00065 template <typename PointT> 00066 class StatisticalMultiscaleInterestRegionExtraction : public PCLBase<PointT> 00067 { 00068 public: 00069 typedef boost::shared_ptr <std::vector<int> > IndicesPtr; 00070 00072 StatisticalMultiscaleInterestRegionExtraction () 00073 {}; 00074 00078 void 00079 generateCloudGraph (); 00080 00084 void 00085 computeRegionsOfInterest (std::list<IndicesPtr>& rois); 00086 00090 inline void 00091 setScalesVector (std::vector<float> &scale_values) { scale_values_ = scale_values; } 00092 00094 inline std::vector<float> 00095 getScalesVector () { return scale_values_; } 00096 00097 00098 private: 00100 bool 00101 initCompute (); 00102 00103 void 00104 geodesicFixedRadiusSearch (size_t &query_index, 00105 float &radius, 00106 std::vector<int> &result_indices); 00107 00108 void 00109 computeF (); 00110 00111 void 00112 extractExtrema (std::list<IndicesPtr>& rois); 00113 00114 using PCLBase<PointT>::initCompute; 00115 using PCLBase<PointT>::input_; 00116 std::vector<float> scale_values_; 00117 std::vector<std::vector<float> > geodesic_distances_; 00118 std::vector<std::vector<float> > F_scales_; 00119 }; 00120 } 00121 00122 00123 #endif /* STATISTICAL_MULTISCALE_INTEREST_REGION_EXTRACTION_H_ */