Point Cloud Library (PCL)  1.3.1
statistical_multiscale_interest_region_extraction.h
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00001 /*
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00004  *  Copyright (c) 2011, Alexandru-Eugen Ichim
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00035  *  $Id: statistical_multiscale_interest_region_extraction.h 3022 2011-11-01 03:42:22Z rusu $
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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_ */
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