42 #include <pcl/pcl_config.h>
45 #include <pcl/surface/convex_hull.h>
54 template<
typename Po
intInT>
58 using Ptr = shared_ptr<ConcaveHull<PointInT> >;
59 using ConstPtr = shared_ptr<const ConcaveHull<PointInT> >;
89 std::vector<pcl::Vertices> &polygons);
148 if ((dimension == 2) || (dimension == 3))
151 PCL_ERROR (
"[pcl::%s::setDimension] Invalid input dimension specified!\n",
getClassName ().c_str ());
169 return (
"ConcaveHull");
181 std::vector<pcl::Vertices> &polygons);
210 #ifdef PCL_NO_PRECOMPILE
211 #include <pcl/surface/impl/concave_hull.hpp>
typename PointCloud::ConstPtr PointCloudConstPtr
pcl::PointIndices hull_indices_
vector containing the point cloud indices of the convex hull points.
void setKeepInformation(bool value)
If keep_information_is set to true the convex hull points keep other information like rgb...
ConcaveHull()
Empty constructor.
int getDimension() const
Returns the dimensionality (2 or 3) of the calculated hull.
void setVoronoiCenters(PointCloudPtr voronoi_centers)
If set, the voronoi cells center will be saved in voronoi_centers
shared_ptr< ConcaveHull< PointInT > > Ptr
void getHullPointIndices(pcl::PointIndices &hull_point_indices) const
Retrieve the indices of the input point cloud that for the convex hull.
void setDimension(int dimension)
Sets the dimension on the input data, 2D or 3D.
shared_ptr< PointCloud< PointInT > > Ptr
void setAlpha(double alpha)
Set the alpha value, which limits the size of the resultant hull segments (the smaller the more detai...
void reconstruct(PointCloud &points, std::vector< pcl::Vertices > &polygons)
Compute a concave hull for all points given.
PointCloudPtr voronoi_centers_
the centers of the voronoi cells
typename PointCloud::Ptr PointCloudPtr
std::string getClassName() const override
Class get name method.
MeshConstruction represents a base surface reconstruction class.
shared_ptr< const ConcaveHull< PointInT > > ConstPtr
~ConcaveHull()
Empty destructor.
shared_ptr< const PointCloud< PointInT > > ConstPtr
double alpha_
The method accepts facets only if the distance from any vertex to the facet->center (center of the vo...
double getAlpha()
Returns the alpha parameter, see setAlpha().
bool keep_information_
If set to true, the reconstructed point cloud describing the hull is obtained from the original input...
void performReconstruction(PointCloud &points, std::vector< pcl::Vertices > &polygons)
The actual reconstruction method.
ConcaveHull (alpha shapes) using libqhull library.
int dim_
the dimensionality of the concave hull