Point Cloud Library (PCL)
1.9.1
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40 #include <pcl/pcl_config.h>
43 #ifndef PCL_CONVEX_HULL_2D_H_
44 #define PCL_CONVEX_HULL_2D_H_
47 #include <pcl/surface/reconstruction.h>
48 #include <pcl/ModelCoefficients.h>
49 #include <pcl/PolygonMesh.h>
59 comparePoints2D (
const std::pair<int, Eigen::Vector4f> & p1,
const std::pair<int, Eigen::Vector4f> & p2)
61 double angle1 = atan2 (p1.second[1], p1.second[0]) + M_PI;
62 double angle2 = atan2 (p2.second[1], p2.second[0]) + M_PI;
63 return (angle1 > angle2);
71 template<
typename Po
intInT>
81 typedef boost::shared_ptr<ConvexHull<PointInT> >
Ptr;
82 typedef boost::shared_ptr<const ConvexHull<PointInT> >
ConstPtr;
112 std::vector<pcl::Vertices> &polygons);
156 if ((dimension == 2) || (dimension == 3))
159 PCL_ERROR (
"[pcl::%s::setDimension] Invalid input dimension specified!\n",
getClassName ().c_str ());
187 std::vector<pcl::Vertices> &polygons,
188 bool fill_polygon_data =
false);
199 std::vector<pcl::Vertices> &polygons,
200 bool fill_polygon_data =
false);
211 std::vector<pcl::Vertices> &polygons,
212 bool fill_polygon_data =
false);
236 return (
"ConvexHull");
270 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
274 #ifdef PCL_NO_PRECOMPILE
275 #include <pcl/surface/impl/convex_hull.hpp>
278 #endif //#ifndef PCL_CONVEX_HULL_2D_H_
void setComputeAreaVolume(bool value)
If set to true, the qhull library is called to compute the total area and volume of the convex hull.
This file defines compatibility wrappers for low level I/O functions.
boost::shared_ptr< PointCloud< PointInT > > Ptr
void getHullPointIndices(pcl::PointIndices &hull_point_indices) const
Retrieve the indices of the input point cloud that for the convex hull.
pcl::PointCloud< PointInT > PointCloud
int dimension_
The dimensionality of the concave hull (2D or 3D).
bool comparePoints2D(const std::pair< int, Eigen::Vector4f > &p1, const std::pair< int, Eigen::Vector4f > &p2)
Sort 2D points in a vector structure.
void performReconstruction3D(PointCloud &points, std::vector< pcl::Vertices > &polygons, bool fill_polygon_data=false)
The reconstruction method for 3D data.
void performReconstruction2D(PointCloud &points, std::vector< pcl::Vertices > &polygons, bool fill_polygon_data=false)
The reconstruction method for 2D data.
pcl::PointIndices hull_indices_
int getDimension() const
Returns the dimensionality (2 or 3) of the calculated hull.
void reconstruct(PointCloud &points, std::vector< pcl::Vertices > &polygons)
Compute a convex hull for all points given.
double getTotalArea() const
Returns the total area of the convex hull.
boost::shared_ptr< const ConvexHull< PointInT > > ConstPtr
const Eigen::Vector3d z_axis_
PointCloud::Ptr PointCloudPtr
std::string getClassName() const
Class get name method.
std::string qhull_flags
Option flag string to be used calling qhull.
void setDimension(int dimension)
Sets the dimension on the input data, 2D or 3D.
boost::shared_ptr< ConvexHull< PointInT > > Ptr
const Eigen::Vector3d y_axis_
double projection_angle_thresh_
How close can a 2D plane's normal be to an axis to make projection problematic.
ConvexHull()
Empty constructor.
virtual ~ConvexHull()
Empty destructor.
void calculateInputDimension()
Automatically determines the dimension of input data - 2D or 3D.
boost::shared_ptr< const PointCloud< PointInT > > ConstPtr
const Eigen::Vector3d x_axis_
ConvexHull using libqhull library.
PointCloud::ConstPtr PointCloudConstPtr
void performReconstruction(PointCloud &points, std::vector< pcl::Vertices > &polygons, bool fill_polygon_data=false)
The actual reconstruction method.
MeshConstruction represents a base surface reconstruction class.
double getTotalVolume() const
Returns the total volume of the convex hull.