This class builds a point cloud graph representing an input dataset by using nearest neighbor search. More...
#include <VisionX/libraries/PointCloudGraph/nearest_neighbors_graph_builder.h>
Inheritance diagram for NearestNeighborsGraphBuilder< PointT, GraphT >:Public Types | |
| typedef pcl::search::Search< PointOutT > | Search |
| typedef Search::Ptr | SearchPtr |
| Public Types inherited from GraphBuilder< PointT, GraphT > | |
| typedef PointT | PointInT |
| Type of points in the input cloud. | |
| typedef point_cloud_graph_traits< GraphT >::point_type | PointOutT |
| Type of points in the output graph. | |
| typedef boost::shared_ptr< GraphBuilder< PointT, GraphT > > | Ptr |
| typedef boost::graph_traits< GraphT >::vertex_descriptor | VertexId |
Public Member Functions | |
| virtual void | compute (GraphT &graph) |
| Build a graph based on the provided input data. | |
| size_t | getNumberOfNeighbors () const |
| Returns the number of neighbors to find when building a graph. | |
| SearchPtr | getSearchMethod () const |
| Get the search method used for finding nearest neighbors when building a graph. | |
| NearestNeighborsGraphBuilder (size_t num_neighbors=14) | |
| Constructor. | |
| void | setNumberOfNeighbors (size_t num_neighbors) |
| Set the number of neighbors to find when building a graph. | |
| void | setSearchMethod (const SearchPtr &search) |
| Set search method that will be used for finding K nearest neighbors when building a graph. | |
| Public Member Functions inherited from GraphBuilder< PointT, GraphT > | |
| const std::vector< VertexId > & | getPointToVertexMap () const |
| Get a mapping between points in the input cloud and the vertices in the output graph. | |
Additional Inherited Members | |
| Protected Attributes inherited from GraphBuilder< PointT, GraphT > | |
| std::vector< VertexId > | point_to_vertex_map_ |
Detailed Description
class pcl::graph::NearestNeighborsGraphBuilder< PointT, GraphT >
This class builds a point cloud graph representing an input dataset by using nearest neighbor search.
The points from the input cloud become vertices and the edges are established between each point and its neighbors (as found by the search object provided with setSearchMethod()). The user may choose to use the default search method, which will be either KdTree or OrganizedNeighbor depending on whether the input point cloud is organized or not.
The data contained in the points of the input cloud will be copied inside the vertices of the newly created graph. Note that the points in the input cloud and the output graph may have different types, in which case only the intersecting fields will be copied over.
For additional information see documentation for GraphBuilder.
Member Typedef Documentation
◆ Search
◆ SearchPtr
| typedef Search::Ptr SearchPtr |
Constructor & Destructor Documentation
◆ NearestNeighborsGraphBuilder()
|
inline |
Constructor.
- Parameters
-
[in] num_neighbors number of neighbors to find when building a graph (default: 14)
Member Function Documentation
◆ compute()
|
virtual |
Build a graph based on the provided input data.
Implements GraphBuilder< PointT, GraphT >.
◆ getNumberOfNeighbors()
|
inline |
Returns the number of neighbors to find when building a graph.
◆ getSearchMethod()
|
inline |
Get the search method used for finding nearest neighbors when building a graph.
◆ setNumberOfNeighbors()
|
inline |
Set the number of neighbors to find when building a graph.
◆ setSearchMethod()
|
inline |
Set search method that will be used for finding K nearest neighbors when building a graph.
The documentation for this class was generated from the following files:
- VisionX/libraries/PointCloudGraph/nearest_neighbors_graph_builder.h
- VisionX/libraries/PointCloudGraph/nearest_neighbors_graph_builder.hpp
