40 #include <pcl/pcl_config.h>
43 #ifndef PCL_CONCAVE_HULL_H
44 #define PCL_CONCAVE_HULL_H
46 #include <pcl/surface/convex_hull.h>
55 template<
typename Po
intInT>
59 typedef boost::shared_ptr<ConcaveHull<PointInT> >
Ptr;
60 typedef boost::shared_ptr<const ConcaveHull<PointInT> >
ConstPtr;
90 std::vector<pcl::Vertices> &polygons);
137 PCL_DEPRECATED (
int getDim ()
const,
"[pcl::ConcaveHull::getDim] This method is deprecated. Please use getDimension () instead.");
152 if ((dimension == 2) || (dimension == 3))
155 PCL_ERROR (
"[pcl::%s::setDimension] Invalid input dimension specified!\n",
getClassName ().c_str ());
163 return (
"ConcaveHull");
175 std::vector<pcl::Vertices> &polygons);
201 #ifdef PCL_NO_PRECOMPILE
202 #include <pcl/surface/impl/concave_hull.hpp>
205 #endif //#ifndef PCL_CONCAVE_HULL
boost::shared_ptr< ConcaveHull< PointInT > > Ptr
int getDimension() const
Returns the dimensionality (2 or 3) of the calculated hull.
boost::shared_ptr< const PointCloud< PointT > > ConstPtr
double alpha_
The method accepts facets only if the distance from any vertex to the facet->center (center of the vo...
boost::shared_ptr< PointCloud< PointT > > Ptr
virtual ~ConcaveHull()
Empty destructor.
boost::shared_ptr< const ConcaveHull< PointInT > > ConstPtr
pcl::PointCloud< PointInT > PointCloud
void setDimension(int dimension)
Sets the dimension on the input data, 2D or 3D.
PointCloud::ConstPtr PointCloudConstPtr
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.
PointCloud::Ptr PointCloudPtr
void setKeepInformation(bool value)
If keep_information_is set to true the convex hull points keep other information like rgb...
PointCloudPtr voronoi_centers_
the centers of the voronoi cells
double getAlpha()
Returns the alpha parameter, see setAlpha().
int dim_
the dimensionality of the concave hull
std::string getClassName() const
Class get name method.
MeshConstruction represents a base surface reconstruction class.
ConcaveHull()
Empty constructor.
void setAlpha(double alpha)
Set the alpha value, which limits the size of the resultant hull segments (the smaller the more detai...
void performReconstruction(PointCloud &points, std::vector< pcl::Vertices > &polygons)
The actual reconstruction method.
void reconstruct(PointCloud &points, std::vector< pcl::Vertices > &polygons)
Compute a concave hull for all points given.
bool keep_information_
If set to true, the reconstructed point cloud describing the hull is obtained from the original input...
ConcaveHull (alpha shapes) using libqhull library.
void setVoronoiCenters(PointCloudPtr voronoi_centers)
If set, the voronoi cells center will be saved in voronoi_centers