ConcaveHull (alpha shapes) using libqhull library. More...

#include <pcl/surface/concave_hull.h>

Inheritance diagram for pcl::ConcaveHull< PointInT >:

Collaboration diagram for pcl::ConcaveHull< PointInT >:

Public Types
typedef pcl::PointCloud< PointInT >	PointCloud

typedef PointCloud::Ptr	PointCloudPtr

typedef PointCloud::ConstPtr	PointCloudConstPtr

Public Types inherited from pcl::MeshConstruction< PointInT >
typedef boost::shared_ptr< MeshConstruction< PointInT > >	Ptr

typedef boost::shared_ptr< const MeshConstruction< PointInT > >	ConstPtr

Public Types inherited from pcl::PCLSurfaceBase< PointInT >
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

Public Types inherited from pcl::PCLBase< PointInT >
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...

Public Member Functions inherited from pcl::MeshConstruction< PointInT >
	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...

Public Member Functions inherited from pcl::PCLSurfaceBase< PointInT >
	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...

Public Member Functions inherited from pcl::PCLBase< PointInT >
	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...

Protected Member Functions inherited from pcl::PCLBase< PointInT >
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...

Protected Attributes inherited from pcl::MeshConstruction< PointInT >
bool	check_tree_
	A flag specifying whether or not the derived reconstruction algorithm needs the search object tree. More...

Protected Attributes inherited from pcl::PCLSurfaceBase< PointInT >
KdTreePtr	tree_
	A pointer to the spatial search object. More...

Protected Attributes inherited from pcl::PCLBase< PointInT >
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...

Detailed Description

template<typename PointInT>
class pcl::ConcaveHull< PointInT >

ConcaveHull (alpha shapes) using libqhull library.

Author: Aitor Aldoma

Definition at line 56 of file concave_hull.h.

Member Typedef Documentation

template<typename PointInT>

typedef boost::shared_ptr<const ConcaveHull<PointInT> > pcl::ConcaveHull< PointInT >::ConstPtr

protected

Definition at line 60 of file concave_hull.h.

template<typename PointInT>

typedef pcl::PointCloud<PointInT> pcl::ConcaveHull< PointInT >::PointCloud

Definition at line 70 of file concave_hull.h.

template<typename PointInT>

typedef PointCloud::ConstPtr pcl::ConcaveHull< PointInT >::PointCloudConstPtr

Definition at line 72 of file concave_hull.h.

template<typename PointInT>

typedef PointCloud::Ptr pcl::ConcaveHull< PointInT >::PointCloudPtr

Definition at line 71 of file concave_hull.h.

template<typename PointInT>

typedef boost::shared_ptr<ConcaveHull<PointInT> > pcl::ConcaveHull< PointInT >::Ptr

protected

Definition at line 59 of file concave_hull.h.

Constructor & Destructor Documentation

template<typename PointInT>

pcl::ConcaveHull< PointInT >::ConcaveHull ( )

inline

Empty constructor.

Definition at line 75 of file concave_hull.h.

template<typename PointInT>

virtual pcl::ConcaveHull< PointInT >::~ConcaveHull ( )

inlinevirtual

Empty destructor.

Definition at line 80 of file concave_hull.h.

Member Function Documentation

template<typename PointInT>

double pcl::ConcaveHull< PointInT >::getAlpha ( )

inline

Returns the alpha parameter, see setAlpha().

Definition at line 112 of file concave_hull.h.

References pcl::ConcaveHull< PointInT >::alpha_.

template<typename PointInT>

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

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().

template<typename PointInT>

int pcl::ConcaveHull< PointInT >::getDimension ( ) const

inline

Returns the dimensionality (2 or 3) of the calculated hull.

Definition at line 141 of file concave_hull.h.

References pcl::ConcaveHull< PointInT >::dim_.

template<typename PointInT>

pcl::ConcaveHull< PointInT >::PCL_DEPRECATED	(	int getDim()	const,
		" This method is deprecated. Please use getDimension () instead."	[pcl::ConcaveHull::getDim]
	)

Returns the dimensionality (2 or 3) of the calculated hull.

template<typename PointInT >

void pcl::ConcaveHull< PointInT >::performReconstruction	(	PointCloud &	points,
		std::vector< pcl::Vertices > &	polygons
	)

protected

The actual reconstruction method.

Parameters

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.

template<typename PointInT >

void pcl::ConcaveHull< PointInT >::performReconstruction ( PolygonMesh & output )

protectedvirtual

Abstract surface reconstruction method.

Parameters

[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().

template<typename PointInT >

void pcl::ConcaveHull< PointInT >::performReconstruction ( std::vector< pcl::Vertices > & polygons )

protectedvirtual

Abstract surface reconstruction method.

Parameters

[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.

template<typename PointInT >

void pcl::ConcaveHull< PointInT >::reconstruct	(	PointCloud &	points,
		std::vector< pcl::Vertices > &	polygons
	)

Compute a concave hull for all points given.

Parameters

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.

template<typename PointInT >

void pcl::ConcaveHull< PointInT >::reconstruct ( PointCloud & output )

Compute a concave hull for all points given.

Parameters

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.

template<typename PointInT>

void pcl::ConcaveHull< PointInT >::setAlpha ( double alpha )

inline

Set the alpha value, which limits the size of the resultant hull segments (the smaller the more detailed the hull).

Parameters

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_.

template<typename PointInT>

void pcl::ConcaveHull< 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 concave_hull.h.

References pcl::ConcaveHull< PointInT >::dim_, and pcl::ConcaveHull< PointInT >::getClassName().

template<typename PointInT>

void pcl::ConcaveHull< PointInT >::setKeepInformation ( bool value )

inline

If keep_information_is set to true the convex hull points keep other information like rgb, normals, ...

Parameters

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_.

template<typename PointInT>

void pcl::ConcaveHull< PointInT >::setVoronoiCenters ( PointCloudPtr voronoi_centers )

inline

If set, the voronoi cells center will be saved in voronoi_centers

Parameters

voronoi_centers

Definition at line 121 of file concave_hull.h.

References pcl::ConcaveHull< PointInT >::voronoi_centers_.

Member Data Documentation

template<typename PointInT>

double pcl::ConcaveHull< PointInT >::alpha_

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().

template<typename PointInT>

int pcl::ConcaveHull< PointInT >::dim_

protected

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().

template<typename PointInT>

bool pcl::ConcaveHull< PointInT >::keep_information_

protected

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().

template<typename PointInT>

PointCloudPtr pcl::ConcaveHull< PointInT >::voronoi_centers_

protected

the centers of the voronoi cells

Definition at line 194 of file concave_hull.h.

Referenced by pcl::ConcaveHull< PointInT >::setVoronoiCenters().

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

/builddir/build/BUILD/pcl-pcl-1.7.1/surface/include/pcl/surface/concave_hull.h
/builddir/build/BUILD/pcl-pcl-1.7.1/surface/include/pcl/surface/impl/concave_hull.hpp

Public Types

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Detailed Description

template<typename PointInT> class pcl::ConcaveHull< PointInT >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

template<typename PointInT>
class pcl::ConcaveHull< PointInT >