graph_builder.h

Go to the documentation of this file.

/*
 * Software License Agreement (BSD License)
 *
 *  Point Cloud Library (PCL) - www.pointclouds.org
 *  Copyright (c) 2014-, Open Perception, Inc.
 *
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of the copyright holder(s) nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 *
 */
 
#ifndef PCL_GRAPH_GRAPH_BUILDER_H
#define PCL_GRAPH_GRAPH_BUILDER_H
 
#include <boost/concept_check.hpp>
 
#include <pcl/pcl_base.h>
 
#include "point_cloud_graph.h"
#include "point_cloud_graph_concept.h"
 
namespace pcl::graph
{
 
    /** This is an abstract base class for building a BGL-compatible point cloud
      * graph from a point cloud.
      *
      * Building a graph involves creating vertices and establishing edges
      * between them. (A particular algorithm for doing these depends on the
      * extending class.)
      *
      * The two template parameters are the type of points in input cloud and
      * the output graph type. The graph type should be a model of
      * \ref concepts::PointCloudGraphConcept (i.e. either point_cloud_graph or
      * \c boost::subgraph wrapped around the former). The type of input points
      * and points bundled in graph vertices do not need to be the same.
      *
      * \author Sergey Alexandrov
      * \ingroup graph */
    template <typename PointT, typename GraphT>
    class PCL_EXPORTS GraphBuilder : public pcl::PCLBase<PointT>
    {
 
        BOOST_CONCEPT_ASSERT((pcl::graph::PointCloudGraphConcept<GraphT>));
 
    public:
        typedef boost::shared_ptr<GraphBuilder<PointT, GraphT>> Ptr;
 
        /// Type of points in the input cloud.
        typedef PointT PointInT;
        /// Type of points in the output graph.
        typedef typename point_cloud_graph_traits<GraphT>::point_type PointOutT;
 
        typedef typename boost::graph_traits<GraphT>::vertex_descriptor VertexId;
 
        /** Build a graph based on the provided input data. */
        virtual void compute(GraphT& graph) = 0;
 
        /** Get a mapping between points in the input cloud and the vertices in
          * the output graph.
          *
          * \warning Some points may have no corresponding vertex. This happens
          * e.g. for NaN points, or if the user intentionally excluded some
          * points from graph building process by providing indices vector with
          * setIndices(). For such points the "nil" vertex id will be assigned,
          * which is equal to std::numeric_limits<VertexId>::max (). */
        const std::vector<VertexId>&
        getPointToVertexMap() const
        {
            return (point_to_vertex_map_);
        }
 
    protected:
        std::vector<VertexId> point_to_vertex_map_;
    };
 
} // namespace pcl::graph
 
 
#endif /* PCL_GRAPH_GRAPH_BUILDER_H */