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
int getDimension() const
Returns the dimensionality (2 or 3) of the calculated hull.
virtual ~ConcaveHull()
Empty destructor.
void setKeepInformation(bool value)
If keep_information_is set to true the convex hull points keep other information like rgb...
PointCloud::ConstPtr PointCloudConstPtr
MeshConstruction represents a base surface reconstruction class.
pcl::PointCloud< PointInT > PointCloud
void performReconstruction(PointCloud &points, std::vector< pcl::Vertices > &polygons)
The actual reconstruction method.
boost::shared_ptr< ConcaveHull< PointInT > > Ptr
void reconstruct(PointCloud &points, std::vector< pcl::Vertices > &polygons)
Compute a concave hull for all points given.
void setAlpha(double alpha)
Set the alpha value, which limits the size of the resultant hull segments (the smaller the more detai...
void setDimension(int dimension)
Sets the dimension on the input data, 2D or 3D.
boost::shared_ptr< PointCloud< PointT > > Ptr
PointCloud::Ptr PointCloudPtr
ConcaveHull (alpha shapes) using libqhull library.
boost::shared_ptr< const ConcaveHull< PointInT > > ConstPtr
int dim_
the dimensionality of the concave hull
std::string getClassName() const
Class get name method.
void setVoronoiCenters(PointCloudPtr voronoi_centers)
If set, the voronoi cells center will be saved in voronoi_centers
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...
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.
bool keep_information_
If set to true, the reconstructed point cloud describing the hull is obtained from the original input...
ConcaveHull()
Empty constructor.
PointCloudPtr voronoi_centers_
the centers of the voronoi cells
double getAlpha()
Returns the alpha parameter, see setAlpha().