voxel_grid_graph_builder.h

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#ifndef PCL_GRAPH_VOXEL_GRID_GRAPH_BUILDER_H
#define PCL_GRAPH_VOXEL_GRID_GRAPH_BUILDER_H
 
#include "graph_builder.h"
 
namespace pcl::graph
{
 
    /** This class builds a BGL graph representing an input dataset by using
      * octree::OctreePointCloud.
      *
      * For additional information see documentation for \ref GraphBuilder.
      *
      * \author Sergey Alexandrov
      * \ingroup graph */
    template <typename PointT, typename GraphT>
    class PCL_EXPORTS VoxelGridGraphBuilder : public GraphBuilder<PointT, GraphT>
    {
 
        using PCLBase<PointT>::initCompute;
        using PCLBase<PointT>::deinitCompute;
        using PCLBase<PointT>::indices_;
        using PCLBase<PointT>::input_;
        using GraphBuilder<PointT, GraphT>::point_to_vertex_map_;
 
    public:
        using typename GraphBuilder<PointT, GraphT>::PointInT;
        using typename GraphBuilder<PointT, GraphT>::PointOutT;
        using typename GraphBuilder<PointT, GraphT>::VertexId;
 
        /** Constructor.
          *
          * \param[in] voxel_resolution resolution of the voxel grid */
        VoxelGridGraphBuilder(float voxel_resolution) : voxel_resolution_(voxel_resolution)
        {
        }
 
        virtual void compute(GraphT& graph);
 
        inline void
        setVoxelResolution(float resolution)
        {
            voxel_resolution_ = resolution;
        }
 
        inline float
        getVoxelResolution() const
        {
            return (voxel_resolution_);
        }
 
    private:
        /// Resolution of the voxel grid.
        float voxel_resolution_;
    };
 
} // namespace pcl::graph
 
#include "voxel_grid_graph_builder.hpp"
 
#endif /* PCL_GRAPH_VOXEL_GRID_GRAPH_BUILDER_H */