279 lines
10 KiB
C++
279 lines
10 KiB
C++
/*
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* Software License Agreement (BSD License)
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*
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* Point Cloud Library (PCL) - www.pointclouds.org
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* Copyright (c) 2010-2012, Willow Garage, Inc.
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*
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of Willow Garage, Inc. nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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* $Id$
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*
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*/
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#pragma once
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#include <pcl/memory.h>
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#include <pcl/pcl_macros.h>
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#include <pcl/pcl_config.h>
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#ifdef HAVE_QHULL
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// PCL includes
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#include <pcl/surface/reconstruction.h>
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#include <pcl/PolygonMesh.h>
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namespace pcl
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{
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/** \brief Sort 2D points in a vector structure
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* \param p1 the first point
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* \param p2 the second point
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* \ingroup surface
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*/
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inline bool
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comparePoints2D (const std::pair<int, Eigen::Vector4f> & p1, const std::pair<int, Eigen::Vector4f> & p2)
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{
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double angle1 = std::atan2 (p1.second[1], p1.second[0]) + M_PI;
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double angle2 = std::atan2 (p2.second[1], p2.second[0]) + M_PI;
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return (angle1 > angle2);
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}
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////////////////////////////////////////////////////////////////////////////////////////////
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/** \brief @b ConvexHull using libqhull library.
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* \author Aitor Aldoma, Alex Trevor
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* \ingroup surface
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*/
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template<typename PointInT>
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class ConvexHull : public MeshConstruction<PointInT>
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{
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protected:
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using PCLBase<PointInT>::input_;
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using PCLBase<PointInT>::indices_;
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using PCLBase<PointInT>::initCompute;
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using PCLBase<PointInT>::deinitCompute;
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public:
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using Ptr = shared_ptr<ConvexHull<PointInT> >;
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using ConstPtr = shared_ptr<const ConvexHull<PointInT> >;
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using MeshConstruction<PointInT>::reconstruct;
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using PointCloud = pcl::PointCloud<PointInT>;
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using PointCloudPtr = typename PointCloud::Ptr;
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using PointCloudConstPtr = typename PointCloud::ConstPtr;
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/** \brief Empty constructor. */
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ConvexHull () : compute_area_ (false), total_area_ (0), total_volume_ (0), dimension_ (0),
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projection_angle_thresh_ (std::cos (0.174532925) ), qhull_flags ("qhull "),
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x_axis_ (1.0, 0.0, 0.0), y_axis_ (0.0, 1.0, 0.0), z_axis_ (0.0, 0.0, 1.0)
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{
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}
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/** \brief Empty destructor */
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~ConvexHull () {}
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/** \brief Compute a convex hull for all points given.
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*
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* \note In 2D case (i.e. if the input points belong to one plane)
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* the \a polygons vector will have a single item, whereas in 3D
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* case it will contain one item for each hull facet.
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*
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* \param[out] points the resultant points lying on the convex hull.
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* \param[out] polygons the resultant convex hull polygons, as a set of
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* vertices. The Vertices structure contains an array of point indices.
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*/
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void
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reconstruct (PointCloud &points,
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std::vector<pcl::Vertices> &polygons);
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/** \brief Compute a convex hull for all points given.
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* \param[out] points the resultant points lying on the convex hull.
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*/
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void
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reconstruct (PointCloud &points);
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/** \brief If set to true, the qhull library is called to compute the total area and volume of the convex hull.
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* NOTE: When this option is activated, the qhull library produces output to the console.
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* \param[in] value whether to compute the area and the volume, default is false
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*/
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void
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setComputeAreaVolume (bool value)
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{
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compute_area_ = value;
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if (compute_area_)
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qhull_flags = std::string ("qhull FA");
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else
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qhull_flags = std::string ("qhull ");
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}
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/** \brief Returns the total area of the convex hull. */
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double
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getTotalArea () const
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{
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return (total_area_);
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}
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/** \brief Returns the total volume of the convex hull. Only valid for 3-dimensional sets.
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* For 2D-sets volume is zero.
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*/
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double
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getTotalVolume () const
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{
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return (total_volume_);
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}
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/** \brief Sets the dimension on the input data, 2D or 3D.
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* \param[in] dimension The dimension of the input data. If not set, this will be determined automatically.
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*/
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void
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setDimension (int dimension)
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{
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if ((dimension == 2) || (dimension == 3))
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dimension_ = dimension;
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else
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PCL_ERROR ("[pcl::%s::setDimension] Invalid input dimension specified!\n", getClassName ().c_str ());
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}
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/** \brief Returns the dimensionality (2 or 3) of the calculated hull. */
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inline int
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getDimension () const
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{
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return (dimension_);
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}
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/** \brief Retrieve the indices of the input point cloud that for the convex hull.
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*
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* \note Should only be called after reconstruction was performed.
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* \param[out] hull_point_indices The indices of the points forming the point cloud
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*/
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void
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getHullPointIndices (pcl::PointIndices &hull_point_indices) const;
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protected:
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/** \brief The actual reconstruction method.
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*
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* \param[out] points the resultant points lying on the convex hull
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* \param[out] polygons the resultant convex hull polygons, as a set of
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* vertices. The Vertices structure contains an array of point indices.
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* \param[in] fill_polygon_data true if polygons should be filled, false otherwise
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*/
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void
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performReconstruction (PointCloud &points,
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std::vector<pcl::Vertices> &polygons,
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bool fill_polygon_data = false);
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/** \brief The reconstruction method for 2D data. Does not require dimension to be set.
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*
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* \param[out] points the resultant points lying on the convex hull
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* \param[out] polygons the resultant convex hull polygons, as a set of
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* vertices. The Vertices structure contains an array of point indices.
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* \param[in] fill_polygon_data true if polygons should be filled, false otherwise
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*/
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void
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performReconstruction2D (PointCloud &points,
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std::vector<pcl::Vertices> &polygons,
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bool fill_polygon_data = false);
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/** \brief The reconstruction method for 3D data. Does not require dimension to be set.
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*
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* \param[out] points the resultant points lying on the convex hull
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* \param[out] polygons the resultant convex hull polygons, as a set of
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* vertices. The Vertices structure contains an array of point indices.
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* \param[in] fill_polygon_data true if polygons should be filled, false otherwise
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*/
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void
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performReconstruction3D (PointCloud &points,
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std::vector<pcl::Vertices> &polygons,
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bool fill_polygon_data = false);
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/** \brief A reconstruction method that returns a polygonmesh.
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*
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* \param[out] output a PolygonMesh representing the convex hull of the input data.
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*/
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void
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performReconstruction (PolygonMesh &output) override;
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/** \brief A reconstruction method that returns the polygon of the convex hull.
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*
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* \param[out] polygons the polygon(s) representing the convex hull of the input data.
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*/
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void
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performReconstruction (std::vector<pcl::Vertices> &polygons) override;
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/** \brief Automatically determines the dimension of input data - 2D or 3D. */
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void
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calculateInputDimension ();
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/** \brief Class get name method. */
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std::string
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getClassName () const override
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{
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return ("ConvexHull");
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}
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/* \brief True if we should compute the area and volume of the convex hull. */
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bool compute_area_;
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/* \brief The area of the convex hull. */
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double total_area_;
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/* \brief The volume of the convex hull (only for 3D hulls, zero for 2D). */
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double total_volume_;
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/** \brief The dimensionality of the concave hull (2D or 3D). */
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int dimension_;
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/** \brief How close can a 2D plane's normal be to an axis to make projection problematic. */
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double projection_angle_thresh_;
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/** \brief Option flag string to be used calling qhull. */
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std::string qhull_flags;
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/* \brief x-axis - for checking valid projections. */
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const Eigen::Vector3d x_axis_;
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/* \brief y-axis - for checking valid projections. */
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const Eigen::Vector3d y_axis_;
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/* \brief z-axis - for checking valid projections. */
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const Eigen::Vector3d z_axis_;
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/* \brief vector containing the point cloud indices of the convex hull points. */
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pcl::PointIndices hull_indices_;
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public:
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PCL_MAKE_ALIGNED_OPERATOR_NEW
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};
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}
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#ifdef PCL_NO_PRECOMPILE
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#include <pcl/surface/impl/convex_hull.hpp>
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#endif
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#endif
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