40 #include <pcl/pcl_config.h> 43 #ifndef PCL_CONCAVE_HULL_H 44 #define PCL_CONCAVE_HULL_H 46 #include <pcl/surface/convex_hull.h> 55 template<
typename Po
intInT>
59 typedef boost::shared_ptr<ConcaveHull<PointInT> >
Ptr;
60 typedef boost::shared_ptr<const ConcaveHull<PointInT> >
ConstPtr;
90 std::vector<pcl::Vertices> &polygons);
149 if ((dimension == 2) || (dimension == 3))
152 PCL_ERROR (
"[pcl::%s::setDimension] Invalid input dimension specified!\n",
getClassName ().c_str ());
170 return (
"ConcaveHull");
182 std::vector<pcl::Vertices> &polygons);
211 #ifdef PCL_NO_PRECOMPILE 212 #include <pcl/surface/impl/concave_hull.hpp> 215 #endif //#ifndef PCL_CONCAVE_HULL PointCloud::ConstPtr PointCloudConstPtr
pcl::PointIndices hull_indices_
vector containing the point cloud indices of the convex hull points.
boost::shared_ptr< const ConcaveHull< PointInT > > ConstPtr
void setKeepInformation(bool value)
If keep_information_is set to true the convex hull points keep other information like rgb,...
ConcaveHull()
Empty constructor.
This file defines compatibility wrappers for low level I/O functions.
void setVoronoiCenters(PointCloudPtr voronoi_centers)
If set, the voronoi cells center will be saved in voronoi_centers
pcl::PointCloud< PointInT > PointCloud
void setDimension(int dimension)
Sets the dimension on the input data, 2D or 3D.
boost::shared_ptr< PointCloud< PointT > > Ptr
void setAlpha(double alpha)
Set the alpha value, which limits the size of the resultant hull segments (the smaller the more detai...
void reconstruct(PointCloud &points, std::vector< pcl::Vertices > &polygons)
Compute a concave hull for all points given.
boost::shared_ptr< ConcaveHull< PointInT > > Ptr
PointCloudPtr voronoi_centers_
the centers of the voronoi cells
void getHullPointIndices(pcl::PointIndices &hull_point_indices) const
Retrieve the indices of the input point cloud that for the convex hull.
boost::shared_ptr< const PointCloud< PointInT > > ConstPtr
MeshConstruction represents a base surface reconstruction class.
int getDimension() const
Returns the dimensionality (2 or 3) of the calculated hull.
double alpha_
The method accepts facets only if the distance from any vertex to the facet->center (center of the vo...
double getAlpha()
Returns the alpha parameter, see setAlpha().
bool keep_information_
If set to true, the reconstructed point cloud describing the hull is obtained from the original input...
void performReconstruction(PointCloud &points, std::vector< pcl::Vertices > &polygons)
The actual reconstruction method.
std::string getClassName() const
Class get name method.
virtual ~ConcaveHull()
Empty destructor.
ConcaveHull (alpha shapes) using libqhull library.
int dim_
the dimensionality of the concave hull
PointCloud::Ptr PointCloudPtr