Subgraph.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2019, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://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>
 */

#pragma once

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

#include <mrpt/pbmap/PbMap.h>

namespace mrpt::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 (auto 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;
};
}  // namespace mrpt::pbmap
#endif