Method computeGraph

sloam/src/segmentation/trellis.cpp:134–140

}

void Instance::computeGraph(const CloudT::Ptr cloud, const CloudT::Ptr tree_cloud,
                            std::vector<std::vector<TreeVertex>> &landmarks) {
  pcl::PointCloud<pcl::Label> euclidean_labels;
  std::vector<pcl::PointIndices> label_indices;
  findClusters(tree_cloud, euclidean_labels, label_indices);
  findTrees(tree_cloud, euclidean_labels, label_indices, landmarks);
}