ConvexHull using libqhull library. More...

#include <pcl/surface/convex_hull.h>

Inheritance diagram for pcl::ConvexHull< PointInT >:

Collaboration diagram for pcl::ConvexHull< PointInT >:

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
using	PointCloudPtr
using	PointCloudConstPtr
using	PointIndicesPtr
using	PointIndicesConstPtr

Public Member Functions
	ConvexHull ()=default
	Empty constructor.
	~ConvexHull () override=default
	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.
void	getHullPointIndices (pcl::PointIndices &hull_point_indices) const
	Retrieve the indices of the input point cloud that for the convex hull.
Public Member Functions inherited from pcl::MeshConstruction< PointInT >
	MeshConstruction ()=default
	Constructor.
	~MeshConstruction () override=default
	Destructor.
void	reconstruct (pcl::PolygonMesh &output) override
	Base method for surface reconstruction for all points given in <setInputCloud (), setIndices ()>
virtual void	reconstruct (std::vector< pcl::Vertices > &polygons)
	Base method for mesh construction for all points given in <setInputCloud (), setIndices ()>
Public Member Functions inherited from pcl::PCLSurfaceBase< PointInT >
	PCLSurfaceBase ()
	Empty constructor.
	~PCLSurfaceBase () override=default
	Empty destructor.
void	setSearchMethod (const KdTreePtr &tree)
	Provide an optional pointer to a search object.
KdTreePtr	getSearchMethod ()
	Get a pointer to the search method used.
Public Member Functions inherited from pcl::PCLBase< PointInT >
	PCLBase ()
	Empty constructor.
	PCLBase (const PCLBase &base)
	Copy constructor.
virtual	~PCLBase ()=default
	Destructor.
virtual void	setInputCloud (const PointCloudConstPtr &cloud)
	Provide a pointer to the input dataset.
PointCloudConstPtr const	getInputCloud () const
	Get a pointer to the input point cloud dataset.
virtual void	setIndices (const IndicesPtr &indices)
	Provide a pointer to the vector of indices that represents the input data.
virtual void	setIndices (const IndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data.
virtual void	setIndices (const PointIndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data.
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.
IndicesPtr	getIndices ()
	Get a pointer to the vector of indices used.
IndicesConstPtr const	getIndices () const
	Get a pointer to the vector of indices used.
const PointInT &	operator[] (std::size_t pos) const
	Override PointCloud operator[] to shorten code.

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.
void	performReconstruction (PolygonMesh &output) override
	A reconstruction method that returns a polygonmesh.
void	performReconstruction (std::vector< pcl::Vertices > &polygons) override
	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 override
	Class get name method.
Protected Member Functions inherited from pcl::PCLBase< PointInT >
bool	initCompute ()
	This method should get called before starting the actual computation.
bool	deinitCompute ()
	This method should get called after finishing the actual computation.

Protected Attributes
bool	compute_area_ {false}
double	total_area_ {0.0}
double	total_volume_ {0.0}
int	dimension_ {0}
	The dimensionality of the concave hull (2D or 3D).
double	projection_angle_thresh_ {std::cos (0.174532925)}
	How close can a 2D plane's normal be to an axis to make projection problematic.
std::string	qhull_flags {"qhull "}
	Option flag string to be used calling qhull.
const Eigen::Vector3d	x_axis_ {1.0, 0.0, 0.0}
const Eigen::Vector3d	y_axis_ {0.0, 1.0, 0.0}
const Eigen::Vector3d	z_axis_ {0.0, 0.0, 1.0}
pcl::PointIndices	hull_indices_
Protected Attributes inherited from pcl::MeshConstruction< PointInT >
bool	check_tree_ {true}
	A flag specifying whether or not the derived reconstruction algorithm needs the search object tree.
Protected Attributes inherited from pcl::PCLSurfaceBase< PointInT >
KdTreePtr	tree_
	A pointer to the spatial search object.
Protected Attributes inherited from pcl::PCLBase< PointInT >
PointCloudConstPtr	input_
	The input point cloud dataset.
IndicesPtr	indices_
	A pointer to the vector of point indices to use.
bool	use_indices_
	Set to true if point indices are used.
bool	fake_indices_
	If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud.

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 ( )

default

Empty constructor.

◆ ~ConvexHull()

template<typename PointInT>

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

overridedefault

Empty destructor.

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(), dimension_, pcl::eigen33(), getClassName(), pcl::PCLBase< PointInT >::indices_, and pcl::PCLBase< PointInT >::input_.

Referenced by performReconstruction().

◆ getClassName()

template<typename PointInT>

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

inlineoverrideprotectedvirtual

Class get name method.

Reimplemented from pcl::PCLSurfaceBase< PointInT >.

Definition at line 230 of file convex_hull.h.

Referenced by calculateInputDimension(), performReconstruction(), performReconstruction2D(), performReconstruction3D(), and 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 160 of file convex_hull.h.

References 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 502 of file convex_hull.hpp.

References hull_indices_.

◆ getTotalArea()

template<typename PointInT>

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

inline

Returns the total area of the convex hull.

Definition at line 132 of file convex_hull.h.

References 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 141 of file convex_hull.h.

References 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 424 of file convex_hull.hpp.

References calculateInputDimension(), dimension_, getClassName(), performReconstruction2D(), and performReconstruction3D().

Referenced by performReconstruction(), performReconstruction(), reconstruct(), and reconstruct().

◆ 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 462 of file convex_hull.hpp.

References pcl::PolygonMesh::cloud, performReconstruction(), 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 474 of file convex_hull.hpp.

References performReconstruction().

◆ 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(), compute_area_, pcl::computeCovarianceMatrixNormalized(), pcl::eigen33(), getClassName(), pcl::PointCloud< PointT >::height, hull_indices_, pcl::PCLBase< PointInT >::indices_, pcl::PCLBase< PointInT >::input_, pcl::PointCloud< PointT >::is_dense, pcl::console::isVerbosityLevelEnabled(), pcl::isXYZFinite(), pcl::console::L_DEBUG, projection_angle_thresh_, qhull_flags, pcl::PointCloud< PointT >::resize(), pcl::PointCloud< PointT >::size(), total_area_, total_volume_, pcl::PointCloud< PointT >::width, x_axis_, y_axis_, and z_axis_.

Referenced by performReconstruction().

◆ 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 291 of file convex_hull.hpp.

References compute_area_, getClassName(), pcl::PointCloud< PointT >::height, hull_indices_, pcl::PCLBase< PointInT >::indices_, pcl::PCLBase< PointInT >::input_, pcl::PointCloud< PointT >::is_dense, pcl::console::isVerbosityLevelEnabled(), pcl::console::L_DEBUG, qhull_flags, pcl::PointCloud< PointT >::resize(), pcl::PointCloud< PointT >::size(), total_area_, total_volume_, and pcl::PointCloud< PointT >::width.

Referenced by performReconstruction().

◆ 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 439 of file convex_hull.hpp.

References pcl::PointCloud< PointT >::clear(), pcl::PCLBase< PointInT >::deinitCompute(), pcl::PointCloud< PointT >::header, pcl::PointCloud< PointT >::height, pcl::PCLBase< PointInT >::indices_, pcl::PCLBase< PointInT >::initCompute(), pcl::PCLBase< PointInT >::input_, pcl::PointCloud< PointT >::is_dense, performReconstruction(), 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 482 of file convex_hull.hpp.

References pcl::PointCloud< PointT >::clear(), pcl::PCLBase< PointInT >::deinitCompute(), pcl::PointCloud< PointT >::header, pcl::PointCloud< PointT >::height, pcl::PCLBase< PointInT >::indices_, pcl::PCLBase< PointInT >::initCompute(), pcl::PCLBase< PointInT >::input_, pcl::PointCloud< PointT >::is_dense, performReconstruction(), pcl::PointCloud< PointT >::size(), and pcl::PointCloud< PointT >::width.

◆ 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 121 of file convex_hull.h.

References compute_area_, and 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 150 of file convex_hull.h.

References dimension_, and getClassName().

Member Data Documentation

◆ compute_area_

template<typename PointInT>

bool pcl::ConvexHull< PointInT >::compute_area_ {false}

protected

Definition at line 236 of file convex_hull.h.

Referenced by performReconstruction2D(), performReconstruction3D(), and setComputeAreaVolume().

◆ dimension_

template<typename PointInT>

int pcl::ConvexHull< PointInT >::dimension_ {0}

protected

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

Definition at line 245 of file convex_hull.h.

Referenced by calculateInputDimension(), getDimension(), performReconstruction(), and setDimension().

◆ hull_indices_

template<typename PointInT>

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

protected

Definition at line 263 of file convex_hull.h.

Referenced by getHullPointIndices(), performReconstruction2D(), and performReconstruction3D().

◆ projection_angle_thresh_

template<typename PointInT>

double pcl::ConvexHull< PointInT >::projection_angle_thresh_ {std::cos (0.174532925)}

protected

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

Definition at line 248 of file convex_hull.h.

Referenced by performReconstruction2D().

◆ qhull_flags

template<typename PointInT>

std::string pcl::ConvexHull< PointInT >::qhull_flags {"qhull "}

protected

Option flag string to be used calling qhull.

Definition at line 251 of file convex_hull.h.

Referenced by performReconstruction2D(), performReconstruction3D(), and setComputeAreaVolume().

◆ total_area_

template<typename PointInT>

double pcl::ConvexHull< PointInT >::total_area_ {0.0}

protected

Definition at line 239 of file convex_hull.h.

Referenced by getTotalArea(), performReconstruction2D(), and performReconstruction3D().

◆ total_volume_

template<typename PointInT>

double pcl::ConvexHull< PointInT >::total_volume_ {0.0}

protected

Definition at line 242 of file convex_hull.h.

Referenced by getTotalVolume(), performReconstruction2D(), and performReconstruction3D().

◆ x_axis_

template<typename PointInT>

const Eigen::Vector3d pcl::ConvexHull< PointInT >::x_axis_ {1.0, 0.0, 0.0}

protected

Definition at line 254 of file convex_hull.h.

Referenced by performReconstruction2D().

◆ y_axis_

template<typename PointInT>

const Eigen::Vector3d pcl::ConvexHull< PointInT >::y_axis_ {0.0, 1.0, 0.0}

protected

Definition at line 257 of file convex_hull.h.

Referenced by performReconstruction2D().

◆ z_axis_

template<typename PointInT>

const Eigen::Vector3d pcl::ConvexHull< PointInT >::z_axis_ {0.0, 0.0, 1.0}

protected

Definition at line 260 of file convex_hull.h.

Referenced by performReconstruction2D().

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

pcl/surface/convex_hull.h
pcl/surface/impl/convex_hull.hpp

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

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_