scale.hpp

#ifndef SCALE_H
#define SCALE_H

#include <Eigen/Dense>
#include "point_io.hpp"
#include "color.hpp"
#include "constants.hpp"

struct Scale {
    size_t id;
    PointSet *pSet;
    PointSet *scaledSet;
    double resolution;
    int kNeighbors;
    double radius;

    std::vector<Eigen::Vector3f> eigenValues;
    std::vector<Eigen::Matrix3f> eigenVectors;
    std::vector<Eigen::Matrix2f> orderAxis;
    std::vector<float> heightMin;
    std::vector<float> heightMax;
    std::vector<std::array<float, 3> > avgHsv;

    Eigen::Matrix3d computeCovariance(const std::vector<size_t> &neighborIds, const Eigen::Vector3f &medoid);
    Eigen::Vector3f computeMedoid(const std::vector<size_t> &neighborIds);
    Eigen::Vector3f computeCentroid(const std::vector<size_t> &pointIds);
    void computeScaledSet();
    void save(const std::string &filename);
    void init();
    void build();

    Scale(size_t id, PointSet *pSet, double resolution, int kNeighbors = 10, double radius = RADIUS);
    ~Scale() {
        RELEASE_POINTSET(scaledSet);
    }
};

std::vector<Scale *> computeScales(size_t numScales, PointSet *pSet, double startResolution, double radius);

#endif