Point Cloud Library (PCL)  1.7.0
Public Types | Public Member Functions | Protected Member Functions | Protected Attributes
pcl::ConvexHull< PointInT > Class Template Reference

ConvexHull using libqhull library. More...

#include <pcl/surface/convex_hull.h>

+ Inheritance diagram for pcl::ConvexHull< PointInT >:

List of all members.

Public Types

typedef boost::shared_ptr
< ConvexHull< PointInT > > 
Ptr
typedef boost::shared_ptr
< const ConvexHull< PointInT > > 
ConstPtr
typedef pcl::PointCloud< PointInT > PointCloud
typedef PointCloud::Ptr PointCloudPtr
typedef PointCloud::ConstPtr PointCloudConstPtr

Public Member Functions

 ConvexHull ()
 Empty constructor.
virtual ~ConvexHull ()
 Empty destructor.
void reconstruct (PointCloud &points, std::vector< pcl::Vertices > &polygons)
 Compute a convex hull for all points given.
void reconstruct (PointCloud &points)
 Compute a convex hull for all points given.
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 getTotalArea () const
 Returns the total area of the convex hull.
double getTotalVolume () const
 Returns the total volume of the convex hull.
void setDimension (int dimension)
 Sets the dimension on the input data, 2D or 3D.
int getDimension () const
 Returns the dimensionality (2 or 3) of the calculated hull.

Protected Member Functions

void performReconstruction (PointCloud &points, std::vector< pcl::Vertices > &polygons, bool fill_polygon_data=false)
 The actual reconstruction method.
void performReconstruction2D (PointCloud &points, std::vector< pcl::Vertices > &polygons, bool fill_polygon_data=false)
 The reconstruction method for 2D data.
void performReconstruction3D (PointCloud &points, std::vector< pcl::Vertices > &polygons, bool fill_polygon_data=false)
 The reconstruction method for 3D data.
virtual void performReconstruction (PolygonMesh &output)
 A reconstruction method that returns a polygonmesh.
virtual void performReconstruction (std::vector< pcl::Vertices > &polygons)
 A reconstruction method that returns the polygon of the convex hull.
void calculateInputDimension ()
 Automatically determines the dimension of input data - 2D or 3D.
std::string getClassName () const
 Class get name method.

Protected Attributes

bool compute_area_
double total_area_
double total_volume_
int dimension_
 The dimensionality of the concave hull (2D or 3D).
double projection_angle_thresh_
 How close can a 2D plane's normal be to an axis to make projection problematic.
std::string qhull_flags
 Option flag string to be used calling qhull.
const Eigen::Vector3d x_axis_
const Eigen::Vector3d y_axis_
const Eigen::Vector3d z_axis_

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

template<typename PointInT>
typedef boost::shared_ptr<const ConvexHull<PointInT> > pcl::ConvexHull< PointInT >::ConstPtr

Reimplemented from pcl::MeshConstruction< PointInT >.

Definition at line 82 of file convex_hull.h.

template<typename PointInT>
typedef pcl::PointCloud<PointInT> pcl::ConvexHull< PointInT >::PointCloud

Reimplemented from pcl::PCLBase< PointInT >.

Definition at line 86 of file convex_hull.h.

template<typename PointInT>
typedef PointCloud::ConstPtr pcl::ConvexHull< PointInT >::PointCloudConstPtr

Reimplemented from pcl::PCLBase< PointInT >.

Definition at line 88 of file convex_hull.h.

template<typename PointInT>
typedef PointCloud::Ptr pcl::ConvexHull< PointInT >::PointCloudPtr

Reimplemented from pcl::PCLBase< PointInT >.

Definition at line 87 of file convex_hull.h.

template<typename PointInT>
typedef boost::shared_ptr<ConvexHull<PointInT> > pcl::ConvexHull< PointInT >::Ptr

Reimplemented from pcl::MeshConstruction< PointInT >.

Definition at line 81 of file convex_hull.h.


Constructor & Destructor Documentation

template<typename PointInT>
pcl::ConvexHull< PointInT >::ConvexHull ( ) [inline]

Empty constructor.

Definition at line 91 of file convex_hull.h.

template<typename PointInT>
virtual pcl::ConvexHull< PointInT >::~ConvexHull ( ) [inline, virtual]

Empty destructor.

Definition at line 98 of file convex_hull.h.


Member Function Documentation

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::computeMeanAndCovarianceMatrix(), pcl::eigen33(), and pcl::EIGEN_ALIGN16.

template<typename PointInT>
std::string pcl::ConvexHull< PointInT >::getClassName ( ) const [inline, protected, virtual]

Class get name method.

Reimplemented from pcl::PCLSurfaceBase< PointInT >.

Definition at line 226 of file convex_hull.h.

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

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_.

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_.

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_.

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]pointsthe resultant points lying on the convex hull
[out]polygonsthe resultant convex hull polygons, as a set of vertices. The Vertices structure contains an array of point indices.
[in]fill_polygon_datatrue if polygons should be filled, false otherwise

Definition at line 408 of file convex_hull.hpp.

template<typename PointInT >
void pcl::ConvexHull< PointInT >::performReconstruction ( PolygonMesh output) [protected, virtual]

A reconstruction method that returns a polygonmesh.

Parameters:
[out]outputa PolygonMesh representing the convex hull of the input data.

Implements pcl::MeshConstruction< PointInT >.

Definition at line 446 of file convex_hull.hpp.

References pcl::PolygonMesh::cloud, pcl::PolygonMesh::polygons, and pcl::toPCLPointCloud2().

template<typename PointInT >
void pcl::ConvexHull< PointInT >::performReconstruction ( std::vector< pcl::Vertices > &  polygons) [protected, virtual]

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

Parameters:
[out]polygonsthe polygon(s) representing the convex hull of the input data.

Implements pcl::MeshConstruction< PointInT >.

Definition at line 458 of file convex_hull.hpp.

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]pointsthe resultant points lying on the convex hull
[out]polygonsthe resultant convex hull polygons, as a set of vertices. The Vertices structure contains an array of point indices.
[in]fill_polygon_datatrue if polygons should be filled, false otherwise

Definition at line 75 of file convex_hull.hpp.

References pcl::comparePoints2D(), pcl::compute3DCentroid(), pcl::computeMeanAndCovarianceMatrix(), pcl::eigen33(), pcl::PointCloud< PointT >::height, pcl::PointCloud< PointT >::is_dense, pcl::PointCloud< PointT >::points, and pcl::PointCloud< PointT >::width.

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]pointsthe resultant points lying on the convex hull
[out]polygonsthe resultant convex hull polygons, as a set of vertices. The Vertices structure contains an array of point indices.
[in]fill_polygon_datatrue if polygons should be filled, false otherwise

Definition at line 284 of file convex_hull.hpp.

References pcl::PointCloud< PointT >::height, pcl::PointCloud< PointT >::is_dense, pcl::PointCloud< PointT >::points, and pcl::PointCloud< PointT >::width.

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]pointsthe resultant points lying on the convex hull.
[out]polygonsthe resultant convex hull polygons, as a set of vertices. The Vertices structure contains an array of point indices.

Definition at line 466 of file convex_hull.hpp.

References pcl::PointCloud< PointT >::header, pcl::PointCloud< PointT >::height, pcl::PointCloud< PointT >::is_dense, pcl::PointCloud< PointT >::points, and pcl::PointCloud< PointT >::width.

template<typename PointInT >
void pcl::ConvexHull< PointInT >::reconstruct ( PointCloud points)

Compute a convex hull for all points given.

Parameters:
[out]pointsthe resultant points lying on the convex hull.

Definition at line 423 of file convex_hull.hpp.

References pcl::PointCloud< PointT >::header, pcl::PointCloud< PointT >::height, pcl::PointCloud< PointT >::is_dense, pcl::PointCloud< PointT >::points, and pcl::PointCloud< PointT >::width.

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]valuewheter 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.

template<typename PointInT>
void pcl::ConvexHull< PointInT >::setDimension ( int  dimension) [inline]

Sets the dimension on the input data, 2D or 3D.

Parameters:
[in]dimensionThe 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

template<typename PointInT>
bool pcl::ConvexHull< PointInT >::compute_area_ [protected]

Definition at line 232 of file convex_hull.h.

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

template<typename PointInT>
int pcl::ConvexHull< PointInT >::dimension_ [protected]

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

Definition at line 241 of file convex_hull.h.

Referenced by pcl::ConvexHull< PointInT >::getDimension(), and pcl::ConvexHull< PointInT >::setDimension().

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 244 of file convex_hull.h.

template<typename PointInT>
std::string pcl::ConvexHull< PointInT >::qhull_flags [protected]

Option flag string to be used calling qhull.

Definition at line 247 of file convex_hull.h.

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

template<typename PointInT>
double pcl::ConvexHull< PointInT >::total_area_ [protected]

Definition at line 235 of file convex_hull.h.

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

template<typename PointInT>
double pcl::ConvexHull< PointInT >::total_volume_ [protected]

Definition at line 238 of file convex_hull.h.

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

template<typename PointInT>
const Eigen::Vector3d pcl::ConvexHull< PointInT >::x_axis_ [protected]

Definition at line 250 of file convex_hull.h.

template<typename PointInT>
const Eigen::Vector3d pcl::ConvexHull< PointInT >::y_axis_ [protected]

Definition at line 253 of file convex_hull.h.

template<typename PointInT>
const Eigen::Vector3d pcl::ConvexHull< PointInT >::z_axis_ [protected]

Definition at line 256 of file convex_hull.h.


The documentation for this class was generated from the following files: