40 #ifndef STATISTICAL_MULTISCALE_INTEREST_REGION_EXTRACTION_H_
41 #define STATISTICAL_MULTISCALE_INTEREST_REGION_EXTRACTION_H_
43 #include <pcl/pcl_base.h>
64 template <
typename Po
intT>
68 typedef boost::shared_ptr <std::vector<int> >
IndicesPtr;
69 typedef typename boost::shared_ptr<StatisticalMultiscaleInterestRegionExtraction<PointT> >
Ptr;
70 typedef typename boost::shared_ptr<const StatisticalMultiscaleInterestRegionExtraction<PointT> >
ConstPtr;
75 scale_values_ (), geodesic_distances_ (), F_scales_ ()
94 setScalesVector (std::vector<float> &scale_values) { scale_values_ = scale_values; }
97 inline std::vector<float>
107 geodesicFixedRadiusSearch (
size_t &query_index,
109 std::vector<int> &result_indices);
115 extractExtrema (std::list<IndicesPtr>& rois);
119 std::vector<float> scale_values_;
120 std::vector<std::vector<float> > geodesic_distances_;
121 std::vector<std::vector<float> > F_scales_;
126 #ifdef PCL_NO_PRECOMPILE
127 #include <pcl/features/impl/statistical_multiscale_interest_region_extraction.hpp>
boost::shared_ptr< const StatisticalMultiscaleInterestRegionExtraction< PointT > > ConstPtr
boost::shared_ptr< StatisticalMultiscaleInterestRegionExtraction< PointT > > Ptr
boost::shared_ptr< std::vector< int > > IndicesPtr
StatisticalMultiscaleInterestRegionExtraction()
Empty constructor.
void setScalesVector(std::vector< float > &scale_values)
Method for setting the scale parameters for the algorithm.
void generateCloudGraph()
Method that generates the underlying nearest neighbor graph based on the input point cloud...
std::vector< float > getScalesVector()
Method for getting the scale parameters vector.
Class for extracting interest regions from unstructured point clouds, based on a multi scale statisti...
void computeRegionsOfInterest(std::list< IndicesPtr > &rois)
The method to be called in order to run the algorithm and produce the resulting set of regions of int...