Subgraph.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */

/*  Plane-based Map (PbMap) library
 *  Construction of plane-based maps and localization in it from RGBD Images.
 *  Writen by Eduardo Fernandez-Moral. See docs for <a
 * href="group__mrpt__pbmap__grp.html" >mrpt-pbmap</a>
 */

#ifndef __SUBGRAPH_H
#define __SUBGRAPH_H

#include <mrpt/config.h>
#if MRPT_HAS_PCL

#include <mrpt/utils/utils_defs.h>

#include <mrpt/pbmap/PbMap.h>

namespace mrpt
{
namespace pbmap
{
/*! This class defines a subgraph inside a PbMap.
 *  This subgraph represents the entity to be matched in order to recognize a
 * previous place.
 *
 * \ingroup mrpt_pbmap_grp
 */
class Subgraph
{
   public:
        /*!Subgraph constructor with no parameters*/
        Subgraph(){};

        /*!Construct a subgraph, inside a given PbMap, as a set of neighborh planes
         * (1-connected) of a reference plane.*/
        Subgraph(PbMap* pPbMap, const unsigned& refPlaneId) : pPBM(pPbMap)
        {
                subgraphPlanesIdx.insert(refPlaneId);
                // Add proximity neighbors
                //      for(std::set<unsigned>::iterator it =
                //      pPBM->vPlanes[refPlaneId].nearbyPlanes.begin(); it !=
                //      pPBM->vPlanes[refPlaneId].nearbyPlanes.end(); it++)
                //        subgraphPlanesIdx.insert(*it);

                // Add neighbors co-visible neighbors
                for (std::map<unsigned, unsigned>::iterator it =
                                 pPBM->vPlanes[refPlaneId].neighborPlanes.begin();
                         it != pPBM->vPlanes[refPlaneId].neighborPlanes.end(); it++)
                        subgraphPlanesIdx.insert(it->first);

#ifdef _VERBOSE
                std::cout << "Subgraph constructor: ";
                for (std::set<unsigned>::iterator it = subgraphPlanesIdx.begin();
                         it != subgraphPlanesIdx.end(); it++)
                        std::cout << *it << " ";
                std::cout << std::endl;
#endif
        };

        PbMap* pPBM;
        std::set<unsigned> subgraphPlanesIdx;
};
}
}  // End of namespaces

#endif
#endif