50 lines
1,022 B
C++
50 lines
1,022 B
C++
/**
|
|
* Point Cloud Segmentation using Felzenszwalb-Huttenlocher Algorithm
|
|
*
|
|
* Copyright (C) Jacobs University Bremen
|
|
*
|
|
* Released under the GPL version 3.
|
|
*
|
|
* @author Mihai-Cotizo Sima
|
|
*/
|
|
|
|
|
|
#ifndef __FHGRAPH_H_
|
|
#define __FHGRAPH_H_
|
|
|
|
#include <vector>
|
|
#include <list>
|
|
|
|
#include <slam6d/point.h>
|
|
#include <slam6d/scan.h>
|
|
#include <segmentation/segment-graph.h>
|
|
#include <ANN/ANN.h>
|
|
|
|
class FHGraph {
|
|
public:
|
|
FHGraph(std::vector< Point >& ps, double weight(Point, Point), double sigma, double eps, int neighbors, float radius);
|
|
edge* getGraph();
|
|
Point operator[](int index);
|
|
int getNumPoints();
|
|
int getNumEdges();
|
|
|
|
void dispose();
|
|
private:
|
|
void compute_neighbors(double weight(Point, Point), double eps);
|
|
void do_gauss(double sigma);
|
|
void without_gauss();
|
|
|
|
std::vector<edge> edges;
|
|
std::vector<Point>& points;
|
|
int V;
|
|
int E;
|
|
|
|
int nr_neighbors;
|
|
float radius;
|
|
|
|
|
|
struct he{ int x; float w; };
|
|
std::vector< std::list<he> > adjency_list;
|
|
};
|
|
|
|
#endif
|