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ConvexHull using libqhull library. More...

#include <pcl/surface/convex_hull.h>

Public Types
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 >
using	Ptr = shared_ptr< MeshConstruction< PointInT > >

using	ConstPtr = shared_ptr< const MeshConstruction< PointInT > >

Public Types inherited from pcl::PCLSurfaceBase< PointInT >
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 >
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
	ConvexHull ()
	Empty constructor. More...

	~ConvexHull ()
	Empty destructor. More...

void	reconstruct (PointCloud &points, std::vector< pcl::Vertices > &polygons)
	Compute a convex hull for all points given. More...

void	reconstruct (PointCloud &points)
	Compute a convex hull for all points given. More...

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...

double	getTotalArea () const
	Returns the total area of the convex hull. More...

double	getTotalVolume () const
	Returns the total volume of the convex hull. More...

void	setDimension (int dimension)
	Sets the dimension on the input data, 2D or 3D. More...

int	getDimension () const
	Returns the dimensionality (2 or 3) of the calculated hull. More...

void	getHullPointIndices (pcl::PointIndices &hull_point_indices) const
	Retrieve the indices of the input point cloud that for the convex hull. More...

Public Member Functions inherited from pcl::MeshConstruction< PointInT >
	MeshConstruction ()
	Constructor. More...

	~MeshConstruction ()
	Destructor. More...

void	reconstruct (pcl::PolygonMesh &output) override
	Base method for surface reconstruction for all points given in <setInputCloud (), setIndices ()> More...

virtual void	reconstruct (std::vector< pcl::Vertices > &polygons)
	Base method for mesh construction for all points given in <setInputCloud (), setIndices ()> More...

Public Member Functions inherited from pcl::PCLSurfaceBase< PointInT >
	PCLSurfaceBase ()
	Empty constructor. More...

	~PCLSurfaceBase ()
	Empty destructor. More...

void	setSearchMethod (const KdTreePtr &tree)
	Provide an optional pointer to a search object. More...

KdTreePtr	getSearchMethod ()
	Get a pointer to the search method used. More...

Public Member Functions inherited from pcl::PCLBase< PointInT >
	PCLBase ()
	Empty constructor. More...

	PCLBase (const PCLBase &base)
	Copy constructor. More...

virtual	~PCLBase ()=default
	Destructor. More...

virtual void	setInputCloud (const PointCloudConstPtr &cloud)
	Provide a pointer to the input dataset. More...

const PointCloudConstPtr	getInputCloud () const
	Get a pointer to the input point cloud dataset. More...

virtual void	setIndices (const IndicesPtr &indices)
	Provide a pointer to the vector of indices that represents the input data. More...

virtual void	setIndices (const IndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data. More...

virtual void	setIndices (const PointIndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data. More...

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...

IndicesPtr	getIndices ()
	Get a pointer to the vector of indices used. More...

const IndicesConstPtr	getIndices () const
	Get a pointer to the vector of indices used. More...

const PointInT &	operator[] (std::size_t pos) const
	Override PointCloud operator[] to shorten code. More...

Protected Member Functions
void	performReconstruction (PointCloud &points, std::vector< pcl::Vertices > &polygons, bool fill_polygon_data=false)
	The actual reconstruction method. More...

void	performReconstruction2D (PointCloud &points, std::vector< pcl::Vertices > &polygons, bool fill_polygon_data=false)
	The reconstruction method for 2D data. More...

void	performReconstruction3D (PointCloud &points, std::vector< pcl::Vertices > &polygons, bool fill_polygon_data=false)
	The reconstruction method for 3D data. More...

void	performReconstruction (PolygonMesh &output) override
	A reconstruction method that returns a polygonmesh. More...

void	performReconstruction (std::vector< pcl::Vertices > &polygons) override
	A reconstruction method that returns the polygon of the convex hull. More...

void	calculateInputDimension ()
	Automatically determines the dimension of input data - 2D or 3D. More...

std::string	getClassName () const override
	Class get name method. More...

Protected Member Functions inherited from pcl::PCLBase< PointInT >
bool	initCompute ()
	This method should get called before starting the actual computation. More...

bool	deinitCompute ()
	This method should get called after finishing the actual computation. More...

Protected Attributes
bool	compute_area_

double	total_area_

double	total_volume_

int	dimension_
	The dimensionality of the concave hull (2D or 3D). More...

double	projection_angle_thresh_
	How close can a 2D plane's normal be to an axis to make projection problematic. More...

std::string	qhull_flags
	Option flag string to be used calling qhull. More...

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 >
bool	check_tree_
	A flag specifying whether or not the derived reconstruction algorithm needs the search object tree. More...

Protected Attributes inherited from pcl::PCLSurfaceBase< PointInT >
KdTreePtr	tree_
	A pointer to the spatial search object. More...

Protected Attributes inherited from pcl::PCLBase< PointInT >
PointCloudConstPtr	input_
	The input point cloud dataset. More...

IndicesPtr	indices_
	A pointer to the vector of point indices to use. More...

bool	use_indices_
	Set to true if point indices are used. More...

bool	fake_indices_
	If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud. More...

Detailed Description

template<typename PointInT>
class pcl::ConvexHull< PointInT >

ConvexHull using libqhull library.

Author: Aitor Aldoma, Alex Trevor

Definition at line 72 of file convex_hull.h.

Member Typedef Documentation

ConstPtr

template<typename PointInT >

using pcl::ConvexHull< PointInT >::ConstPtr = shared_ptr<const ConvexHull<PointInT> >

Definition at line 82 of file convex_hull.h.

PointCloud

template<typename PointInT >

using pcl::ConvexHull< PointInT >::PointCloud = pcl::PointCloud<PointInT>

Definition at line 86 of file convex_hull.h.

PointCloudConstPtr

template<typename PointInT >

using pcl::ConvexHull< PointInT >::PointCloudConstPtr = typename PointCloud::ConstPtr

Definition at line 88 of file convex_hull.h.

PointCloudPtr

template<typename PointInT >

using pcl::ConvexHull< PointInT >::PointCloudPtr = typename PointCloud::Ptr

Definition at line 87 of file convex_hull.h.

Ptr

template<typename PointInT >

using pcl::ConvexHull< PointInT >::Ptr = shared_ptr<ConvexHull<PointInT> >

Definition at line 81 of file convex_hull.h.

Constructor & Destructor Documentation

ConvexHull()

template<typename PointInT >

pcl::ConvexHull< PointInT >::ConvexHull ( )

inline

Empty constructor.

Definition at line 91 of file convex_hull.h.

~ConvexHull()

template<typename PointInT >

pcl::ConvexHull< PointInT >::~ConvexHull ( )

inline

Empty destructor.

Definition at line 98 of file convex_hull.h.

Member Function Documentation

calculateInputDimension()

template<typename PointInT >

void pcl::ConvexHull< PointInT >::calculateInputDimension

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()

template<typename PointInT >

std::string pcl::ConvexHull< PointInT >::getClassName ( ) const

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()

template<typename PointInT >

int pcl::ConvexHull< PointInT >::getDimension ( ) const

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()

template<typename PointInT >

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()

template<typename PointInT >

double pcl::ConvexHull< PointInT >::getTotalArea ( ) const

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()

template<typename PointInT >

double pcl::ConvexHull< PointInT >::getTotalVolume ( ) const

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]

template<typename PointInT >

void pcl::ConvexHull< PointInT >::performReconstruction	(	PointCloud &	points,
		std::vector< pcl::Vertices > &	polygons,
		bool	fill_polygon_data = `false`
	)

protected

The actual reconstruction method.

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 425 of file convex_hull.hpp.

performReconstruction() [2/3]

template<typename PointInT >

void pcl::ConvexHull< PointInT >::performReconstruction ( PolygonMesh & output )

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]

template<typename PointInT >

void pcl::ConvexHull< PointInT >::performReconstruction ( std::vector< pcl::Vertices > & polygons )

overrideprotectedvirtual

A reconstruction method that returns the polygon of the convex hull.

Parameters

[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()

template<typename PointInT >

void pcl::ConvexHull< PointInT >::performReconstruction2D	(	PointCloud &	points,
		std::vector< pcl::Vertices > &	polygons,
		bool	fill_polygon_data = `false`
	)

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()

template<typename PointInT >

void pcl::ConvexHull< PointInT >::performReconstruction3D	(	PointCloud &	points,
		std::vector< pcl::Vertices > &	polygons,
		bool	fill_polygon_data = `false`
	)

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]

template<typename PointInT >

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]

template<typename PointInT >

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.

setComputeAreaVolume()

template<typename PointInT >

void pcl::ConvexHull< PointInT >::setComputeAreaVolume ( bool value )

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()

template<typename PointInT >

void pcl::ConvexHull< PointInT >::setDimension ( int dimension )

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_

template<typename PointInT >

bool pcl::ConvexHull< PointInT >::compute_area_

protected

Definition at line 240 of file convex_hull.h.

Referenced by pcl::ConvexHull< PointInT >::setComputeAreaVolume().

dimension_

template<typename PointInT >

int pcl::ConvexHull< PointInT >::dimension_

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_

template<typename PointInT >

pcl::PointIndices pcl::ConvexHull< PointInT >::hull_indices_

protected

Definition at line 267 of file convex_hull.h.

projection_angle_thresh_

template<typename PointInT >

double pcl::ConvexHull< PointInT >::projection_angle_thresh_

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

template<typename PointInT >

std::string pcl::ConvexHull< PointInT >::qhull_flags

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_

template<typename PointInT >

double pcl::ConvexHull< PointInT >::total_area_

protected

Definition at line 243 of file convex_hull.h.

Referenced by pcl::ConvexHull< PointInT >::getTotalArea().

total_volume_

template<typename PointInT >

double pcl::ConvexHull< PointInT >::total_volume_

protected

Definition at line 246 of file convex_hull.h.

Referenced by pcl::ConvexHull< PointInT >::getTotalVolume().

x_axis_

template<typename PointInT >

const Eigen::Vector3d pcl::ConvexHull< PointInT >::x_axis_

protected

Definition at line 258 of file convex_hull.h.

y_axis_

template<typename PointInT >

const Eigen::Vector3d pcl::ConvexHull< PointInT >::y_axis_

protected

Definition at line 261 of file convex_hull.h.

z_axis_

template<typename PointInT >

const Eigen::Vector3d pcl::ConvexHull< PointInT >::z_axis_

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

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

template<typename PointInT> class pcl::ConvexHull< PointInT >

Member Typedef Documentation

ConstPtr

PointCloud

PointCloudConstPtr

PointCloudPtr

Ptr

Constructor & Destructor Documentation

ConvexHull()

~ConvexHull()

Member Function Documentation

calculateInputDimension()

getClassName()

getDimension()

getHullPointIndices()

getTotalArea()

getTotalVolume()

performReconstruction() [1/3]

performReconstruction() [2/3]

performReconstruction() [3/3]

performReconstruction2D()

performReconstruction3D()

reconstruct() [1/2]

reconstruct() [2/2]

setComputeAreaVolume()

setDimension()

Member Data Documentation

compute_area_

dimension_

hull_indices_

projection_angle_thresh_

qhull_flags

total_area_

total_volume_

x_axis_

y_axis_

z_axis_

template<typename PointInT>
class pcl::ConvexHull< PointInT >