GraphBuilder< PointT, GraphT > Class Template Reference

This is an abstract base class for building a BGL-compatible point cloud graph from a point cloud. More...

#include <VisionX/libraries/PointCloudGraph/graph_builder.h>

Inheritance diagram for GraphBuilder< PointT, GraphT >:

Public Types
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)=0
	Build a graph based on the provided input data.
const std::vector< VertexId > &	getPointToVertexMap () const
	Get a mapping between points in the input cloud and the vertices in the output graph.

Protected Attributes
std::vector< VertexId >	point_to_vertex_map_

Detailed Description

template<typename PointT, typename GraphT>
class pcl::graph::GraphBuilder< PointT, GraphT >

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 PointCloudGraphConcept (i.e. either point_cloud_graph or 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

Member Typedef Documentation

PointInT

template<typename PointT, typename GraphT>

typedef PointT PointInT

Type of points in the input cloud.

PointOutT

template<typename PointT, typename GraphT>

typedef point_cloud_graph_traits<GraphT>::point_type PointOutT

Type of points in the output graph.

Ptr

template<typename PointT, typename GraphT>

typedef boost::shared_ptr<GraphBuilder<PointT, GraphT> > Ptr

VertexId

template<typename PointT, typename GraphT>

typedef boost::graph_traits<GraphT>::vertex_descriptor VertexId

Member Function Documentation

compute()

template<typename PointT, typename GraphT>

virtual void compute ( GraphT & graph )

pure virtual

Build a graph based on the provided input data.

Implemented in NearestNeighborsGraphBuilder< PointT, GraphT >, and VoxelGridGraphBuilder< PointT, GraphT >.

getPointToVertexMap()

template<typename PointT, typename GraphT>

const std::vector< VertexId > & getPointToVertexMap ( ) const

inline

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 ().

Member Data Documentation

point_to_vertex_map_

template<typename PointT, typename GraphT>

std::vector<VertexId> point_to_vertex_map_

protected

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The documentation for this class was generated from the following file:

• VisionX/libraries/PointCloudGraph/graph_builder.h