graph_builder.h

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#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_;
 
    };
 
}
 
 
#endif /* PCL_GRAPH_GRAPH_BUILDER_H */