nearest_neighbors_graph_builder.h

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#ifndef PCL_GRAPH_NEAREST_NEIGHBORS_GRAPH_BUILDER_H
#define PCL_GRAPH_NEAREST_NEIGHBORS_GRAPH_BUILDER_H
 
#include <pcl/search/search.h>
 
#include "graph_builder.h"
 
namespace pcl::graph
{
 
    /** 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 \ref GraphBuilder.
      *
      * \author Sergey Alexandrov
      * \ingroup graph */
    template <typename PointT, typename GraphT>
    class PCL_EXPORTS NearestNeighborsGraphBuilder : public GraphBuilder<PointT, GraphT>
    {
 
        using PCLBase<PointT>::initCompute;
        using PCLBase<PointT>::deinitCompute;
        using PCLBase<PointT>::indices_;
        using PCLBase<PointT>::input_;
        using PCLBase<PointT>::use_indices_;
        using PCLBase<PointT>::fake_indices_;
        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;
 
        typedef pcl::search::Search<PointOutT> Search;
        typedef typename Search::Ptr SearchPtr;
 
        /** Constructor.
          *
          * \param[in] num_neighbors number of neighbors to find when building
          * a graph (default: \c 14) */
        NearestNeighborsGraphBuilder(size_t num_neighbors = 14)
            : num_neighbors_(num_neighbors)
        {
        }
 
        virtual void
        compute(GraphT& graph);
 
        /** Set search method that will be used for finding K nearest neighbors
          * when building a graph. */
        inline void
        setSearchMethod(const SearchPtr& search)
        {
            search_ = search;
        }
 
        /** Get the search method used for finding nearest neighbors when
          * building a graph. */
        inline SearchPtr
        getSearchMethod() const
        {
            return (search_);
        }
 
        /** Set the number of neighbors to find when building a graph. */
        inline void
        setNumberOfNeighbors(size_t num_neighbors)
        {
            num_neighbors_ = num_neighbors;
        }
 
        /** Returns the number of neighbors to find when building a graph. */
        inline size_t
        getNumberOfNeighbors() const
        {
            return (num_neighbors_);
        }
 
    private:
 
        /// The search method that will be used for finding K nearest neighbors
        /// when building a graph.
        SearchPtr search_;
 
        /// The number of neighbors to find when building a graph.
        size_t num_neighbors_;
 
    };
 
}
 
 
#include "nearest_neighbors_graph_builder.hpp"
 
#endif /* PCL_GRAPH_NEAREST_NEIGHBORS_GRAPH_BUILDER_H */