Point Cloud Library (PCL)
1.7.1
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ConcaveHull (alpha shapes) using libqhull library. More...
#include <pcl/surface/concave_hull.h>
Public Types | |
typedef pcl::PointCloud< PointInT > | PointCloud |
typedef PointCloud::Ptr | PointCloudPtr |
typedef PointCloud::ConstPtr | PointCloudConstPtr |
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typedef boost::shared_ptr < MeshConstruction< PointInT > > | Ptr |
typedef boost::shared_ptr < const MeshConstruction < PointInT > > | ConstPtr |
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typedef boost::shared_ptr < PCLSurfaceBase< PointInT > > | Ptr |
typedef boost::shared_ptr < const PCLSurfaceBase < PointInT > > | ConstPtr |
typedef pcl::search::Search < PointInT > | KdTree |
typedef pcl::search::Search < PointInT >::Ptr | KdTreePtr |
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typedef pcl::PointCloud< PointInT > | PointCloud |
typedef PointCloud::Ptr | PointCloudPtr |
typedef PointCloud::ConstPtr | PointCloudConstPtr |
typedef boost::shared_ptr < PointIndices > | PointIndicesPtr |
typedef boost::shared_ptr < PointIndices const > | PointIndicesConstPtr |
Public Member Functions | |
ConcaveHull () | |
Empty constructor. More... | |
virtual | ~ConcaveHull () |
Empty destructor. More... | |
void | reconstruct (PointCloud &points, std::vector< pcl::Vertices > &polygons) |
Compute a concave hull for all points given. More... | |
void | reconstruct (PointCloud &output) |
Compute a concave hull for all points given. More... | |
void | setAlpha (double alpha) |
Set the alpha value, which limits the size of the resultant hull segments (the smaller the more detailed the hull). More... | |
double | getAlpha () |
Returns the alpha parameter, see setAlpha(). More... | |
void | setVoronoiCenters (PointCloudPtr voronoi_centers) |
If set, the voronoi cells center will be saved in voronoi_centers More... | |
void | setKeepInformation (bool value) |
If keep_information_is set to true the convex hull points keep other information like rgb, normals, ... More... | |
PCL_DEPRECATED (int getDim() const,"[pcl::ConcaveHull::getDim] This method is deprecated. Please use getDimension () instead.") | |
Returns the dimensionality (2 or 3) of the calculated hull. More... | |
int | getDimension () const |
Returns the dimensionality (2 or 3) of the calculated hull. More... | |
void | setDimension (int dimension) |
Sets the dimension on the input data, 2D or 3D. More... | |
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MeshConstruction () | |
Constructor. More... | |
virtual | ~MeshConstruction () |
Destructor. More... | |
virtual void | reconstruct (pcl::PolygonMesh &output) |
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... | |
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PCLSurfaceBase () | |
Empty constructor. More... | |
virtual | ~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... | |
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PCLBase () | |
Empty constructor. More... | |
PCLBase (const PCLBase &base) | |
Copy constructor. More... | |
virtual | ~PCLBase () |
Destructor. More... | |
virtual void | setInputCloud (const PointCloudConstPtr &cloud) |
Provide a pointer to the input dataset. More... | |
PointCloudConstPtr const | getInputCloud () |
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 (size_t row_start, size_t col_start, size_t nb_rows, size_t nb_cols) |
Set the indices for the points laying within an interest region of the point cloud. More... | |
IndicesPtr const | getIndices () |
Get a pointer to the vector of indices used. More... | |
const PointInT & | operator[] (size_t pos) |
Override PointCloud operator[] to shorten code. More... | |
Protected Types | |
typedef boost::shared_ptr < ConcaveHull< PointInT > > | Ptr |
typedef boost::shared_ptr < const ConcaveHull< PointInT > > | ConstPtr |
Protected Member Functions | |
std::string | getClassName () const |
Class get name method. More... | |
void | performReconstruction (PointCloud &points, std::vector< pcl::Vertices > &polygons) |
The actual reconstruction method. More... | |
virtual void | performReconstruction (PolygonMesh &output) |
Abstract surface reconstruction method. More... | |
virtual void | performReconstruction (std::vector< pcl::Vertices > &polygons) |
Abstract surface reconstruction method. More... | |
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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 | |
double | alpha_ |
The method accepts facets only if the distance from any vertex to the facet->center (center of the voronoi cell) is smaller than alpha. More... | |
bool | keep_information_ |
If set to true, the reconstructed point cloud describing the hull is obtained from the original input cloud by performing a nearest neighbor search from Qhull output. More... | |
PointCloudPtr | voronoi_centers_ |
the centers of the voronoi cells More... | |
int | dim_ |
the dimensionality of the concave hull More... | |
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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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KdTreePtr | tree_ |
A pointer to the spatial search object. More... | |
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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... | |
ConcaveHull (alpha shapes) using libqhull library.
Definition at line 56 of file concave_hull.h.
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protected |
Definition at line 60 of file concave_hull.h.
typedef pcl::PointCloud<PointInT> pcl::ConcaveHull< PointInT >::PointCloud |
Definition at line 70 of file concave_hull.h.
typedef PointCloud::ConstPtr pcl::ConcaveHull< PointInT >::PointCloudConstPtr |
Definition at line 72 of file concave_hull.h.
typedef PointCloud::Ptr pcl::ConcaveHull< PointInT >::PointCloudPtr |
Definition at line 71 of file concave_hull.h.
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protected |
Definition at line 59 of file concave_hull.h.
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inline |
Empty constructor.
Definition at line 75 of file concave_hull.h.
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inlinevirtual |
Empty destructor.
Definition at line 80 of file concave_hull.h.
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inline |
Returns the alpha parameter, see setAlpha().
Definition at line 112 of file concave_hull.h.
References pcl::ConcaveHull< PointInT >::alpha_.
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inlineprotectedvirtual |
Class get name method.
Reimplemented from pcl::PCLSurfaceBase< PointInT >.
Definition at line 161 of file concave_hull.h.
Referenced by pcl::ConcaveHull< PointInT >::setDimension().
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Returns the dimensionality (2 or 3) of the calculated hull.
Definition at line 141 of file concave_hull.h.
References pcl::ConcaveHull< PointInT >::dim_.
pcl::ConcaveHull< PointInT >::PCL_DEPRECATED | ( | int getDim() | const, |
" This method is deprecated. Please use getDimension () instead." | [pcl::ConcaveHull::getDim] | ||
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Returns the dimensionality (2 or 3) of the calculated hull.
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protected |
The actual reconstruction method.
points | the resultant points lying on the concave hull |
polygons | the resultant concave hull polygons, as a set of vertices. The Vertices structure contains an array of point indices. |
Definition at line 130 of file concave_hull.hpp.
References pcl::computeMeanAndCovarianceMatrix(), pcl::copyPointCloud(), pcl::demeanPointCloud(), pcl::eigen33(), pcl::EIGEN_ALIGN16, pcl::getCircumcircleRadius(), pcl::PointCloud< PointT >::height, pcl::PointCloud< PointT >::is_dense, pcl::KdTreeFLANN< PointT, Dist >::nearestKSearch(), pcl::PointCloud< PointT >::points, pcl::KdTreeFLANN< PointT, Dist >::setInputCloud(), pcl::PointCloud< PointT >::size(), pcl::transformPointCloud(), pcl::Vertices::vertices, and pcl::PointCloud< PointT >::width.
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protectedvirtual |
Abstract surface reconstruction method.
[out] | output | the output polygonal mesh |
Implements pcl::MeshConstruction< PointInT >.
Definition at line 602 of file concave_hull.hpp.
References pcl::PolygonMesh::cloud, pcl::PolygonMesh::polygons, and pcl::toPCLPointCloud2().
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protectedvirtual |
Abstract surface reconstruction method.
[out] | polygons | the resultant polygons, as a set of vertices. The Vertices structure contains an array of point indices. |
Implements pcl::MeshConstruction< PointInT >.
Definition at line 614 of file concave_hull.hpp.
void pcl::ConcaveHull< PointInT >::reconstruct | ( | PointCloud & | points, |
std::vector< pcl::Vertices > & | polygons | ||
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Compute a concave hull for all points given.
points | the resultant points lying on the concave hull |
polygons | the resultant concave hull polygons, as a set of vertices. The Vertices structure contains an array of point indices. |
Definition at line 99 of file concave_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.
void pcl::ConcaveHull< PointInT >::reconstruct | ( | PointCloud & | output | ) |
Compute a concave hull for all points given.
output | the resultant concave hull vertices |
Definition at line 70 of file concave_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.
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inline |
Set the alpha value, which limits the size of the resultant hull segments (the smaller the more detailed the hull).
alpha | positive, non-zero value, defining the maximum length from a vertex to the facet center (center of the voronoi cell). |
Definition at line 105 of file concave_hull.h.
References pcl::ConcaveHull< PointInT >::alpha_.
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inline |
Sets the dimension on the input data, 2D or 3D.
[in] | dimension | The dimension of the input data. If not set, this will be determined automatically. |
Definition at line 150 of file concave_hull.h.
References pcl::ConcaveHull< PointInT >::dim_, and pcl::ConcaveHull< PointInT >::getClassName().
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inline |
If keep_information_is set to true the convex hull points keep other information like rgb, normals, ...
value | where to keep the information or not, default is false |
Definition at line 131 of file concave_hull.h.
References pcl::ConcaveHull< PointInT >::keep_information_.
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If set, the voronoi cells center will be saved in voronoi_centers
voronoi_centers |
Definition at line 121 of file concave_hull.h.
References pcl::ConcaveHull< PointInT >::voronoi_centers_.
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protected |
The method accepts facets only if the distance from any vertex to the facet->center (center of the voronoi cell) is smaller than alpha.
Definition at line 186 of file concave_hull.h.
Referenced by pcl::ConcaveHull< PointInT >::getAlpha(), and pcl::ConcaveHull< PointInT >::setAlpha().
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the dimensionality of the concave hull
Definition at line 197 of file concave_hull.h.
Referenced by pcl::ConcaveHull< PointInT >::getDimension(), and pcl::ConcaveHull< PointInT >::setDimension().
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If set to true, the reconstructed point cloud describing the hull is obtained from the original input cloud by performing a nearest neighbor search from Qhull output.
Definition at line 191 of file concave_hull.h.
Referenced by pcl::ConcaveHull< PointInT >::setKeepInformation().
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the centers of the voronoi cells
Definition at line 194 of file concave_hull.h.
Referenced by pcl::ConcaveHull< PointInT >::setVoronoiCenters().