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_indices The 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

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 119 of file concave_hull.hpp.

◆ performReconstruction() [2/3]

template<typename PointInT >

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

overrideprotectedvirtual

Abstract surface reconstruction method.

Parameters

[out] output the 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] 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 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

output the resultant concave hull vertices

Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:

Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
Neither the name of Willow Garage, Inc. nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

$Id$

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

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 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

alpha positive, 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] dimension The 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

value where 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:

pcl/surface/concave_hull.h
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

◆ ConstPtr

◆ PointCloud

◆ PointCloudConstPtr

◆ PointCloudPtr

◆ Ptr

Constructor & Destructor Documentation

◆ ConcaveHull()

◆ ~ConcaveHull()

Member Function Documentation

◆ getAlpha()

◆ getClassName()

◆ getDimension()

◆ getHullPointIndices()

◆ performReconstruction() [1/3]

◆ performReconstruction() [2/3]

◆ performReconstruction() [3/3]

◆ reconstruct() [1/2]

◆ reconstruct() [2/2]

◆ setAlpha()

◆ setDimension()

◆ setKeepInformation()

◆ setVoronoiCenters()

Member Data Documentation

◆ alpha_

◆ dim_

◆ hull_indices_

◆ keep_information_

◆ voronoi_centers_

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