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51 lines
1022 B
Plaintext
51 lines
1022 B
Plaintext
/**
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* Point Cloud Segmentation using Felzenszwalb-Huttenlocher Algorithm
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*
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* Copyright (C) Jacobs University Bremen
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*
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* Released under the GPL version 3.
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*
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* @author Mihai-Cotizo Sima
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*/
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#ifndef __FHGRAPH_H_
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#define __FHGRAPH_H_
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#include <vector>
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#include <list>
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#include <slam6d/point.h>
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#include <slam6d/scan.h>
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#include <segmentation/segment-graph.h>
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#include <ANN/ANN.h>
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class FHGraph {
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public:
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FHGraph(std::vector< Point >& ps, double weight(Point, Point), double sigma, double eps, int neighbors, float radius);
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edge* getGraph();
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Point operator[](int index);
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int getNumPoints();
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int getNumEdges();
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void dispose();
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private:
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void compute_neighbors(double weight(Point, Point), double eps);
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void do_gauss(double sigma);
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void without_gauss();
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std::vector<edge> edges;
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std::vector<Point>& points;
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int V;
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int E;
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int nr_neighbors;
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float radius;
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struct he{ int x; float w; };
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std::vector< std::list<he> > adjency_list;
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};
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#endif
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