ConvexHull using libqhull library. More...
#include <pcl/surface/convex_hull.h>
Public Types |
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| using | Ptr = shared_ptr< ConvexHull< PointInT > > |
| using | ConstPtr = shared_ptr< const ConvexHull< PointInT > > |
| using | PointCloud = pcl::PointCloud< PointInT > |
| using | PointCloudPtr = typename PointCloud::Ptr |
| using | PointCloudConstPtr = typename PointCloud::ConstPtr |
 Public Types inherited from pcl::MeshConstruction< PointInT > |
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| using | Ptr = shared_ptr< MeshConstruction< PointInT > > |
| using | ConstPtr = shared_ptr< const MeshConstruction< PointInT > > |
| Public Types inherited from pcl::PCLSurfaceBase< PointInT > |
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| using | Ptr = shared_ptr< PCLSurfaceBase< PointInT > > |
| using | ConstPtr = shared_ptr< const PCLSurfaceBase< PointInT > > |
| using | KdTree = pcl::search::Search< PointInT > |
| using | KdTreePtr = typename KdTree::Ptr |
| Public Types inherited from pcl::PCLBase< PointInT > |
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| using | PointCloud = pcl::PointCloud< PointInT > |
| using | PointCloudPtr = typename PointCloud::Ptr |
| using | PointCloudConstPtr = typename PointCloud::ConstPtr |
| using | PointIndicesPtr = PointIndices::Ptr |
| using | PointIndicesConstPtr = PointIndices::ConstPtr |
Public Member Functions |
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| ConvexHull () | |
| Empty constructor. More... |
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| ~ConvexHull () | |
| Empty destructor. More... |
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| void | reconstruct (PointCloud &points, std::vector< pcl::Vertices > &polygons) |
| Compute a convex hull for all points given. More... |
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| void | reconstruct (PointCloud &points) |
| Compute a convex hull for all points given. More... |
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| void | setComputeAreaVolume (bool value) |
| If set to true, the qhull library is called to compute the total area and volume of the convex hull. More... |
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| double | getTotalArea () const |
| Returns the total area of the convex hull. More... |
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| double | getTotalVolume () const |
| Returns the total volume of the convex hull. More... |
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| void | setDimension (int dimension) |
| Sets the dimension on the input data, 2D or 3D. More... |
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| int | getDimension () const |
| Returns the dimensionality (2 or 3) of the calculated hull. More... |
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| void | getHullPointIndices (pcl::PointIndices &hull_point_indices) const |
| Retrieve the indices of the input point cloud that for the convex hull. More... |
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| Public Member Functions inherited from pcl::MeshConstruction< PointInT > |
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| MeshConstruction () | |
| Constructor. More... |
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| ~MeshConstruction () | |
| Destructor. More... |
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| void | reconstruct (pcl::PolygonMesh &output) override |
| Base method for surface reconstruction for all points given in <setInputCloud (), setIndices ()> More... |
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| virtual void | reconstruct (std::vector< pcl::Vertices > &polygons) |
| Base method for mesh construction for all points given in <setInputCloud (), setIndices ()> More... |
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| Public Member Functions inherited from pcl::PCLSurfaceBase< PointInT > |
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| PCLSurfaceBase () | |
| Empty constructor. More... |
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| ~PCLSurfaceBase () | |
| Empty destructor. More... |
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| void | setSearchMethod (const KdTreePtr &tree) |
| Provide an optional pointer to a search object. More... |
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| KdTreePtr | getSearchMethod () |
| Get a pointer to the search method used. More... |
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| Public Member Functions inherited from pcl::PCLBase< PointInT > |
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| PCLBase () | |
| Empty constructor. More... |
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| PCLBase (const PCLBase &base) | |
| Copy constructor. More... |
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| virtual | ~PCLBase ()=default |
| Destructor. More... |
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| virtual void | setInputCloud (const PointCloudConstPtr &cloud) |
| Provide a pointer to the input dataset. More... |
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| const PointCloudConstPtr | getInputCloud () const |
| Get a pointer to the input point cloud dataset. More... |
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| virtual void | setIndices (const IndicesPtr &indices) |
| Provide a pointer to the vector of indices that represents the input data. More... |
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| virtual void | setIndices (const IndicesConstPtr &indices) |
| Provide a pointer to the vector of indices that represents the input data. More... |
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| virtual void | setIndices (const PointIndicesConstPtr &indices) |
| Provide a pointer to the vector of indices that represents the input data. More... |
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| virtual void | setIndices (std::size_t row_start, std::size_t col_start, std::size_t nb_rows, std::size_t nb_cols) |
| Set the indices for the points laying within an interest region of the point cloud. More... |
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| IndicesPtr | getIndices () |
| Get a pointer to the vector of indices used. More... |
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| const IndicesConstPtr | getIndices () const |
| Get a pointer to the vector of indices used. More... |
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| const PointInT & | operator[] (std::size_t pos) const |
| Override PointCloud operator[] to shorten code. More... |
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Protected Member Functions |
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| void | performReconstruction (PointCloud &points, std::vector< pcl::Vertices > &polygons, bool fill_polygon_data=false) |
| The actual reconstruction method. More... |
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| void | performReconstruction2D (PointCloud &points, std::vector< pcl::Vertices > &polygons, bool fill_polygon_data=false) |
| The reconstruction method for 2D data. More... |
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| void | performReconstruction3D (PointCloud &points, std::vector< pcl::Vertices > &polygons, bool fill_polygon_data=false) |
| The reconstruction method for 3D data. More... |
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| void | performReconstruction (PolygonMesh &output) override |
| A reconstruction method that returns a polygonmesh. More... |
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| void | performReconstruction (std::vector< pcl::Vertices > &polygons) override |
| A reconstruction method that returns the polygon of the convex hull. More... |
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| void | calculateInputDimension () |
| Automatically determines the dimension of input data - 2D or 3D. More... |
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| std::string | getClassName () const override |
| Class get name method. More... |
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| Protected Member Functions inherited from pcl::PCLBase< PointInT > |
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| bool | initCompute () |
| This method should get called before starting the actual computation. More... |
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| bool | deinitCompute () |
| This method should get called after finishing the actual computation. More... |
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Protected Attributes |
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| bool | compute_area_ |
| double | total_area_ |
| double | total_volume_ |
| int | dimension_ |
| The dimensionality of the concave hull (2D or 3D). More... |
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| double | projection_angle_thresh_ |
| How close can a 2D plane's normal be to an axis to make projection problematic. More... |
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| std::string | qhull_flags |
| Option flag string to be used calling qhull. More... |
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| const Eigen::Vector3d | x_axis_ |
| const Eigen::Vector3d | y_axis_ |
| const Eigen::Vector3d | z_axis_ |
| pcl::PointIndices | hull_indices_ |
| Protected Attributes inherited from pcl::MeshConstruction< PointInT > |
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| bool | check_tree_ |
| A flag specifying whether or not the derived reconstruction algorithm needs the search object tree. More... |
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| Protected Attributes inherited from pcl::PCLSurfaceBase< PointInT > |
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| KdTreePtr | tree_ |
| A pointer to the spatial search object. More... |
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| Protected Attributes inherited from pcl::PCLBase< PointInT > |
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| PointCloudConstPtr | input_ |
| The input point cloud dataset. More... |
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| IndicesPtr | indices_ |
| A pointer to the vector of point indices to use. More... |
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| bool | use_indices_ |
| Set to true if point indices are used. More... |
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| bool | fake_indices_ |
| If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud. More... |
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Detailed Description
template<typename PointInT>
class pcl::ConvexHull< PointInT >
ConvexHull using libqhull library.
Definition at line 72 of file convex_hull.h.
Member Typedef Documentation
ConstPtr
| using pcl::ConvexHull< PointInT >::ConstPtr = shared_ptr<const ConvexHull<PointInT> > |
Definition at line 82 of file convex_hull.h.
PointCloud
| using pcl::ConvexHull< PointInT >::PointCloud = pcl::PointCloud<PointInT> |
Definition at line 86 of file convex_hull.h.
PointCloudConstPtr
| using pcl::ConvexHull< PointInT >::PointCloudConstPtr = typename PointCloud::ConstPtr |
Definition at line 88 of file convex_hull.h.
PointCloudPtr
| using pcl::ConvexHull< PointInT >::PointCloudPtr = typename PointCloud::Ptr |
Definition at line 87 of file convex_hull.h.
Ptr
| using pcl::ConvexHull< PointInT >::Ptr = shared_ptr<ConvexHull<PointInT> > |
Definition at line 81 of file convex_hull.h.
Constructor & Destructor Documentation
ConvexHull()
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inline |
Empty constructor.
Definition at line 91 of file convex_hull.h.
~ConvexHull()
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inline |
Empty destructor.
Definition at line 98 of file convex_hull.h.
Member Function Documentation
calculateInputDimension()
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protected |
Automatically determines the dimension of input data - 2D or 3D.
Definition at line 57 of file convex_hull.hpp.
References pcl::compute3DCentroid(), pcl::computeCovarianceMatrixNormalized(), and pcl::eigen33().
getClassName()
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inlineoverrideprotectedvirtual |
Class get name method.
Reimplemented from pcl::PCLSurfaceBase< PointInT >.
Definition at line 234 of file convex_hull.h.
Referenced by pcl::ConvexHull< PointInT >::setDimension().
getDimension()
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inline |
Returns the dimensionality (2 or 3) of the calculated hull.
Definition at line 164 of file convex_hull.h.
References pcl::ConvexHull< PointInT >::dimension_.
getHullPointIndices()
| void pcl::ConvexHull< PointInT >::getHullPointIndices | ( | pcl::PointIndices & | hull_point_indices | ) | const |
Retrieve the indices of the input point cloud that for the convex hull.
- Note
- Should only be called after reconstruction was performed.
- Parameters
-
[out] hull_point_indices The indices of the points forming the point cloud
Definition at line 503 of file convex_hull.hpp.
getTotalArea()
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inline |
Returns the total area of the convex hull.
Definition at line 136 of file convex_hull.h.
References pcl::ConvexHull< PointInT >::total_area_.
getTotalVolume()
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inline |
Returns the total volume of the convex hull.
Only valid for 3-dimensional sets. For 2D-sets volume is zero.
Definition at line 145 of file convex_hull.h.
References pcl::ConvexHull< PointInT >::total_volume_.
performReconstruction() [1/3]
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protected |
The actual reconstruction method.
- Parameters
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[out] points the resultant points lying on the convex hull [out] polygons the resultant convex hull polygons, as a set of vertices. The Vertices structure contains an array of point indices. [in] fill_polygon_data true if polygons should be filled, false otherwise
Definition at line 425 of file convex_hull.hpp.
performReconstruction() [2/3]
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overrideprotectedvirtual |
A reconstruction method that returns a polygonmesh.
- Parameters
-
[out] output a PolygonMesh representing the convex hull of the input data.
Implements pcl::MeshConstruction< PointInT >.
Definition at line 463 of file convex_hull.hpp.
References pcl::PolygonMesh::cloud, pcl::PolygonMesh::polygons, and pcl::toPCLPointCloud2().
performReconstruction() [3/3]
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overrideprotectedvirtual |
A reconstruction method that returns the polygon of the convex hull.
- Parameters
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[out] polygons the polygon(s) representing the convex hull of the input data.
Implements pcl::MeshConstruction< PointInT >.
Definition at line 475 of file convex_hull.hpp.
performReconstruction2D()
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protected |
The reconstruction method for 2D data.
Does not require dimension to be set.
- Parameters
-
[out] points the resultant points lying on the convex hull [out] polygons the resultant convex hull polygons, as a set of vertices. The Vertices structure contains an array of point indices. [in] fill_polygon_data true if polygons should be filled, false otherwise
Definition at line 76 of file convex_hull.hpp.
References pcl::PointCloud< PointT >::clear(), pcl::comparePoints2D(), pcl::compute3DCentroid(), pcl::computeCovarianceMatrixNormalized(), pcl::eigen33(), pcl::PointCloud< PointT >::height, pcl::PointCloud< PointT >::is_dense, pcl::PointCloud< PointT >::resize(), pcl::PointCloud< PointT >::size(), and pcl::PointCloud< PointT >::width.
performReconstruction3D()
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protected |
The reconstruction method for 3D data.
Does not require dimension to be set.
- Parameters
-
[out] points the resultant points lying on the convex hull [out] polygons the resultant convex hull polygons, as a set of vertices. The Vertices structure contains an array of point indices. [in] fill_polygon_data true if polygons should be filled, false otherwise
Definition at line 292 of file convex_hull.hpp.
References pcl::PointCloud< PointT >::height, pcl::PointCloud< PointT >::is_dense, pcl::PointCloud< PointT >::resize(), pcl::PointCloud< PointT >::size(), and pcl::PointCloud< PointT >::width.
reconstruct() [1/2]
| void pcl::ConvexHull< PointInT >::reconstruct | ( | PointCloud & | points | ) |
Compute a convex hull for all points given.
- Parameters
-
[out] points the resultant points lying on the convex hull.
Definition at line 440 of file convex_hull.hpp.
References pcl::PointCloud< PointT >::clear(), pcl::PointCloud< PointT >::header, pcl::PointCloud< PointT >::height, pcl::PointCloud< PointT >::is_dense, pcl::PointCloud< PointT >::size(), and pcl::PointCloud< PointT >::width.
reconstruct() [2/2]
| void pcl::ConvexHull< PointInT >::reconstruct | ( | PointCloud & | points, |
| std::vector< pcl::Vertices > & | polygons | ||
| ) |
Compute a convex hull for all points given.
- Note
- In 2D case (i.e. if the input points belong to one plane) the polygons vector will have a single item, whereas in 3D case it will contain one item for each hull facet.
- Parameters
-
[out] points the resultant points lying on the convex hull. [out] polygons the resultant convex hull polygons, as a set of vertices. The Vertices structure contains an array of point indices.
Definition at line 483 of file convex_hull.hpp.
References pcl::PointCloud< PointT >::clear(), pcl::PointCloud< PointT >::header, pcl::PointCloud< PointT >::height, pcl::PointCloud< PointT >::is_dense, pcl::PointCloud< PointT >::size(), and pcl::PointCloud< PointT >::width.
setComputeAreaVolume()
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inline |
If set to true, the qhull library is called to compute the total area and volume of the convex hull.
NOTE: When this option is activated, the qhull library produces output to the console.
- Parameters
-
[in] value whether to compute the area and the volume, default is false
Definition at line 125 of file convex_hull.h.
References pcl::ConvexHull< PointInT >::compute_area_, and pcl::ConvexHull< PointInT >::qhull_flags.
setDimension()
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inline |
Sets the dimension on the input data, 2D or 3D.
- Parameters
-
[in] dimension The dimension of the input data. If not set, this will be determined automatically.
Definition at line 154 of file convex_hull.h.
References pcl::ConvexHull< PointInT >::dimension_, and pcl::ConvexHull< PointInT >::getClassName().
Member Data Documentation
compute_area_
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protected |
Definition at line 240 of file convex_hull.h.
Referenced by pcl::ConvexHull< PointInT >::setComputeAreaVolume().
dimension_
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protected |
The dimensionality of the concave hull (2D or 3D).
Definition at line 249 of file convex_hull.h.
Referenced by pcl::ConvexHull< PointInT >::getDimension(), and pcl::ConvexHull< PointInT >::setDimension().
hull_indices_
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protected |
Definition at line 267 of file convex_hull.h.
projection_angle_thresh_
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protected |
How close can a 2D plane's normal be to an axis to make projection problematic.
Definition at line 252 of file convex_hull.h.
qhull_flags
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protected |
Option flag string to be used calling qhull.
Definition at line 255 of file convex_hull.h.
Referenced by pcl::ConvexHull< PointInT >::setComputeAreaVolume().
total_area_
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protected |
Definition at line 243 of file convex_hull.h.
Referenced by pcl::ConvexHull< PointInT >::getTotalArea().
total_volume_
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protected |
Definition at line 246 of file convex_hull.h.
Referenced by pcl::ConvexHull< PointInT >::getTotalVolume().
x_axis_
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protected |
Definition at line 258 of file convex_hull.h.
y_axis_
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protected |
Definition at line 261 of file convex_hull.h.
z_axis_
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protected |
Definition at line 264 of file convex_hull.h.
The documentation for this class was generated from the following files:
- pcl/surface/convex_hull.h
- pcl/surface/impl/convex_hull.hpp
© 2009–2012, Willow Garage, Inc.
© 2012–, Open Perception, Inc.
Licensed under the BSD License.
https://pointclouds.org/documentation/classpcl_1_1_convex_hull.html
