44 #include <pcl/pcl_config.h> 48 #include <pcl/surface/reconstruction.h> 49 #include <pcl/ModelCoefficients.h> 50 #include <pcl/PolygonMesh.h> 60 comparePoints2D (
const std::pair<int, Eigen::Vector4f> & p1,
const std::pair<int, Eigen::Vector4f> & p2)
62 double angle1 = std::atan2 (p1.second[1], p1.second[0]) +
M_PI;
63 double angle2 = std::atan2 (p2.second[1], p2.second[0]) +
M_PI;
64 return (angle1 > angle2);
72 template<
typename Po
intInT>
82 using Ptr = shared_ptr<ConvexHull<PointInT> >;
83 using ConstPtr = shared_ptr<const ConvexHull<PointInT> >;
113 std::vector<pcl::Vertices> &polygons);
157 if ((dimension == 2) || (dimension == 3))
160 PCL_ERROR (
"[pcl::%s::setDimension] Invalid input dimension specified!\n",
getClassName ().c_str ());
188 std::vector<pcl::Vertices> &polygons,
189 bool fill_polygon_data =
false);
200 std::vector<pcl::Vertices> &polygons,
201 bool fill_polygon_data =
false);
212 std::vector<pcl::Vertices> &polygons,
213 bool fill_polygon_data =
false);
237 return (
"ConvexHull");
275 #ifdef PCL_NO_PRECOMPILE 276 #include <pcl/surface/impl/convex_hull.hpp> int dimension_
The dimensionality of the concave hull (2D or 3D).
pcl::PointIndices hull_indices_
ConvexHull using libqhull library.
shared_ptr< PointCloud< PointInT > > Ptr
std::string qhull_flags
Option flag string to be used calling qhull.
Defines functions, macros and traits for allocating and using memory.
void performReconstruction(PointCloud &points, std::vector< pcl::Vertices > &polygons, bool fill_polygon_data=false)
The actual reconstruction method.
typename PointCloud::ConstPtr PointCloudConstPtr
~ConvexHull()
Empty destructor.
const Eigen::Vector3d z_axis_
std::string getClassName() const override
Class get name method.
#define PCL_MAKE_ALIGNED_OPERATOR_NEW
Macro to signal a class requires a custom allocator.
ConvexHull()
Empty constructor.
void calculateInputDimension()
Automatically determines the dimension of input data - 2D or 3D.
int getDimension() const
Returns the dimensionality (2 or 3) of the calculated hull.
shared_ptr< ConvexHull< PointInT > > Ptr
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.
MeshConstruction represents a base surface reconstruction class.
void reconstruct(PointCloud &points, std::vector< pcl::Vertices > &polygons)
Compute a convex hull for all points given.
double getTotalVolume() const
Returns the total volume of the convex hull.
void getHullPointIndices(pcl::PointIndices &hull_point_indices) const
Retrieve the indices of the input point cloud that for the convex hull.
shared_ptr< const PointCloud< PointInT > > ConstPtr
typename PointCloud::Ptr PointCloudPtr
void setComputeAreaVolume(bool value)
If set to true, the qhull library is called to compute the total area and volume of the convex hull...
double projection_angle_thresh_
How close can a 2D plane's normal be to an axis to make projection problematic.
const Eigen::Vector3d x_axis_
void setDimension(int dimension)
Sets the dimension on the input data, 2D or 3D.
double getTotalArea() const
Returns the total area of the convex hull.
Defines all the PCL and non-PCL macros used.
shared_ptr< const ConvexHull< PointInT > > ConstPtr
const Eigen::Vector3d y_axis_
bool comparePoints2D(const std::pair< int, Eigen::Vector4f > &p1, const std::pair< int, Eigen::Vector4f > &p2)
Sort 2D points in a vector structure.