Point Cloud Library (PCL)  1.14.0-dev
List of all members | Public Types | Public Member Functions | Protected Types | Protected Member Functions | Protected Attributes
pcl::ConcaveHull< PointInT > Class Template Reference

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

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 = pcl::PointCloud< PointInT >
 
using PointCloudPtr = typename PointCloud::Ptr
 
using PointCloudConstPtr = typename PointCloud::ConstPtr
 
using PointIndicesPtr = PointIndices::Ptr
 
using PointIndicesConstPtr = PointIndices::ConstPtr
 

Public Member Functions

 ConcaveHull ()=default
 Empty constructor. More...
 
 ~ConcaveHull () override=default
 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...
 
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...
 
void getHullPointIndices (pcl::PointIndices &hull_point_indices) const
 Retrieve the indices of the input point cloud that for the convex hull. More...
 
- Public Member Functions inherited from pcl::MeshConstruction< PointInT >
 MeshConstruction ()=default
 Constructor. More...
 
 ~MeshConstruction () override=default
 Destructor. More...
 
void reconstruct (pcl::PolygonMesh &output) override
 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...
 
 ~PCLSurfaceBase () override=default
 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 ()=default
 Destructor. More...
 
virtual void setInputCloud (const PointCloudConstPtr &cloud)
 Provide a pointer to the input dataset. More...
 
PointCloudConstPtr const getInputCloud () const
 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 (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. More...
 
IndicesPtr getIndices ()
 Get a pointer to the vector of indices used. More...
 
IndicesConstPtr const getIndices () const
 Get a pointer to the vector of indices used. More...
 
const PointInT & operator[] (std::size_t pos) const
 Override PointCloud operator[] to shorten code. More...
 

Protected Types

using Ptr = shared_ptr< ConcaveHull< PointInT > >
 
using ConstPtr = shared_ptr< const ConcaveHull< PointInT > >
 

Protected Member Functions

std::string getClassName () const override
 Class get name method. More...
 
void performReconstruction (PointCloud &points, std::vector< pcl::Vertices > &polygons)
 The actual reconstruction method. More...
 
void performReconstruction (PolygonMesh &output) override
 Abstract surface reconstruction method. More...
 
void performReconstruction (std::vector< pcl::Vertices > &polygons) override
 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_ {0.0}
 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_ {false}
 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_ {nullptr}
 the centers of the voronoi cells More...
 
int dim_ {0}
 the dimensionality of the concave hull More...
 
pcl::PointIndices hull_indices_
 vector containing the point cloud indices of the convex hull points. More...
 
- 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. 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 55 of file concave_hull.h.

Member Typedef Documentation

◆ ConstPtr

template<typename PointInT >
using pcl::ConcaveHull< PointInT >::ConstPtr = shared_ptr<const ConcaveHull<PointInT> >
protected

Definition at line 59 of file concave_hull.h.

◆ PointCloud

template<typename PointInT >
using pcl::ConcaveHull< PointInT >::PointCloud = pcl::PointCloud<PointInT>

Definition at line 69 of file concave_hull.h.

◆ PointCloudConstPtr

template<typename PointInT >
using pcl::ConcaveHull< PointInT >::PointCloudConstPtr = typename PointCloud::ConstPtr

Definition at line 71 of file concave_hull.h.

◆ PointCloudPtr

template<typename PointInT >
using pcl::ConcaveHull< PointInT >::PointCloudPtr = typename PointCloud::Ptr

Definition at line 70 of file concave_hull.h.

◆ Ptr

template<typename PointInT >
using pcl::ConcaveHull< PointInT >::Ptr = shared_ptr<ConcaveHull<PointInT> >
protected

Definition at line 58 of file concave_hull.h.

Constructor & Destructor Documentation

◆ ConcaveHull()

template<typename PointInT >
pcl::ConcaveHull< PointInT >::ConcaveHull ( )
default

Empty constructor.

◆ ~ConcaveHull()

template<typename PointInT >
pcl::ConcaveHull< PointInT >::~ConcaveHull ( )
overridedefault

Empty destructor.

Member Function Documentation

◆ getAlpha()

template<typename PointInT >
double pcl::ConcaveHull< PointInT >::getAlpha ( )
inline

Returns the alpha parameter, see setAlpha().

Definition at line 109 of file concave_hull.h.

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

◆ getClassName()

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

Class get name method.

Reimplemented from pcl::PCLSurfaceBase< PointInT >.

Definition at line 165 of file concave_hull.h.

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

◆ getDimension()

template<typename PointInT >
int pcl::ConcaveHull< PointInT >::getDimension ( ) const
inline

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

Definition at line 135 of file concave_hull.h.

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

◆ getHullPointIndices()

template<typename PointInT >
void pcl::ConcaveHull< 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 and if the ConcaveHull is set to preserve information via setKeepInformation ().
Parameters
[out]hull_point_indicesThe indices of the points forming the point cloud

Definition at line 618 of file concave_hull.hpp.

◆ performReconstruction() [1/3]

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

◆ performReconstruction() [2/3]

template<typename PointInT >
void pcl::ConcaveHull< PointInT >::performReconstruction ( PolygonMesh output)
overrideprotectedvirtual

Abstract surface reconstruction method.

Parameters
[out]outputthe output polygonal mesh

Implements pcl::MeshConstruction< PointInT >.

Definition at line 598 of file concave_hull.hpp.

References pcl::PolygonMesh::cloud, pcl::PolygonMesh::polygons, and pcl::toPCLPointCloud2().

◆ performReconstruction() [3/3]

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

Abstract surface reconstruction method.

Parameters
[out]polygonsthe resultant polygons, as a set of vertices. The Vertices structure contains an array of point indices.

Implements pcl::MeshConstruction< PointInT >.

Definition at line 610 of file concave_hull.hpp.

◆ reconstruct() [1/2]

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

Compute a concave hull for all points given.

Software License Agreement (BSD License)

Parameters
outputthe resultant concave hull vertices

Point Cloud Library (PCL) - www.pointclouds.org Copyright (c) 2010-2011, Willow Garage, Inc.

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Definition at line 59 of file concave_hull.hpp.

References pcl::PointCloud< PointT >::clear(), pcl::PointCloud< PointT >::header, pcl::PointCloud< PointT >::height, pcl::PointCloud< PointT >::is_dense, pcl::PointCloud< PointT >::size(), and pcl::PointCloud< PointT >::width.

◆ reconstruct() [2/2]

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

Compute a concave hull for all points given.

Parameters
pointsthe resultant points lying on the concave hull
polygonsthe resultant concave hull polygons, as a set of vertices. The Vertices structure contains an array of point indices.

Definition at line 88 of file concave_hull.hpp.

References pcl::PointCloud< PointT >::clear(), pcl::PointCloud< PointT >::header, pcl::PointCloud< PointT >::height, pcl::PointCloud< PointT >::is_dense, pcl::PointCloud< PointT >::size(), and pcl::PointCloud< PointT >::width.

◆ setAlpha()

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
alphapositive, non-zero value, defining the maximum length from a vertex to the facet center (center of the voronoi cell).

Definition at line 102 of file concave_hull.h.

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

◆ setDimension()

template<typename PointInT >
void pcl::ConcaveHull< PointInT >::setDimension ( int  dimension)
inline

Sets the dimension on the input data, 2D or 3D.

Parameters
[in]dimensionThe dimension of the input data. If not set, this will be determined automatically.

Definition at line 144 of file concave_hull.h.

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

◆ setKeepInformation()

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
valuewhere to keep the information or not, default is false

Definition at line 128 of file concave_hull.h.

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

◆ setVoronoiCenters()

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 118 of file concave_hull.h.

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

Member Data Documentation

◆ alpha_

template<typename PointInT >
double pcl::ConcaveHull< PointInT >::alpha_ {0.0}
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 190 of file concave_hull.h.

Referenced by pcl::ConcaveHull< PointInT >::getAlpha(), and pcl::ConcaveHull< PointInT >::setAlpha().

◆ dim_

template<typename PointInT >
int pcl::ConcaveHull< PointInT >::dim_ {0}
protected

the dimensionality of the concave hull

Definition at line 201 of file concave_hull.h.

Referenced by pcl::ConcaveHull< PointInT >::getDimension(), and pcl::ConcaveHull< PointInT >::setDimension().

◆ hull_indices_

template<typename PointInT >
pcl::PointIndices pcl::ConcaveHull< PointInT >::hull_indices_
protected

vector containing the point cloud indices of the convex hull points.

Definition at line 204 of file concave_hull.h.

◆ keep_information_

template<typename PointInT >
bool pcl::ConcaveHull< PointInT >::keep_information_ {false}
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 195 of file concave_hull.h.

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

◆ voronoi_centers_

template<typename PointInT >
PointCloudPtr pcl::ConcaveHull< PointInT >::voronoi_centers_ {nullptr}
protected

the centers of the voronoi cells

Definition at line 198 of file concave_hull.h.

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


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