statistical_multiscale_interest_region_extraction.h

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#ifndef STATISTICAL_MULTISCALE_INTEREST_REGION_EXTRACTION_H_
#define STATISTICAL_MULTISCALE_INTEREST_REGION_EXTRACTION_H_

#include <pcl/pcl_base.h>
#include <list>

namespace pcl
{
  template <typename PointT>
  class StatisticalMultiscaleInterestRegionExtraction : public PCLBase<PointT>
  {
    public:
      typedef boost::shared_ptr <std::vector<int> > IndicesPtr;
      typedef typename boost::shared_ptr<StatisticalMultiscaleInterestRegionExtraction<PointT> > Ptr;
      typedef typename boost::shared_ptr<const StatisticalMultiscaleInterestRegionExtraction<PointT> > ConstPtr;


      StatisticalMultiscaleInterestRegionExtraction () :
        scale_values_ (), geodesic_distances_ (), F_scales_ ()
      {};

      void
      generateCloudGraph ();

      void
      computeRegionsOfInterest (std::list<IndicesPtr>& rois);

      inline void
      setScalesVector (std::vector<float> &scale_values) { scale_values_ = scale_values; }

      inline std::vector<float>
      getScalesVector () { return scale_values_; }


    private:
      bool
      initCompute ();

      void
      geodesicFixedRadiusSearch (size_t &query_index,
                                 float &radius,
                                 std::vector<int> &result_indices);

      void
      computeF ();

      void
      extractExtrema (std::list<IndicesPtr>& rois);

      using PCLBase<PointT>::initCompute;
      using PCLBase<PointT>::input_;
      std::vector<float> scale_values_;
      std::vector<std::vector<float> > geodesic_distances_;
      std::vector<std::vector<float> > F_scales_;
  };
}


#ifdef PCL_NO_PRECOMPILE
#include <pcl/features/impl/statistical_multiscale_interest_region_extraction.hpp>
#endif

#endif /* STATISTICAL_MULTISCALE_INTEREST_REGION_EXTRACTION_H_ */