Public Types | Public Member Functions | Protected Member Functions

pcl::ConcaveHull< PointInT > Class Template Reference
[Module surface]

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

#include <pcl/surface/concave_hull.h>

Inheritance diagram for pcl::ConcaveHull< PointInT >:
Inheritance graph
[legend]
Collaboration diagram for pcl::ConcaveHull< PointInT >:
Collaboration graph
[legend]

List of all members.

Public Types

typedef pcl::PointCloud< PointInT > PointCloud
typedef PointCloud::Ptr PointCloudPtr
typedef PointCloud::ConstPtr PointCloudConstPtr

Public Member Functions

 ConcaveHull ()
 Empty constructor.
void reconstruct (PointCloud &points, std::vector< pcl::Vertices > &polygons)
 Compute a concave hull for all points given.
void reconstruct (PointCloud &output)
 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 detailed the hull).
double getAlpha ()
 Returns the alpha parameter, see setAlpha().
void setVoronoiCenters (PointCloudPtr voronoi_centers)
 If set, the voronoi cells center will be saved in _voronoi_centers_.
void setKeepInformation (bool value)
 If keep_information_is set to true the convex hull points keep other information like rgb, normals, ...

Protected Member Functions

std::string getClassName () const
 Class get name method.

Detailed Description

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

ConcaveHull (alpha shapes) using libqhull library.

Author:
Aitor Aldoma

Definition at line 54 of file concave_hull.h.


Member Typedef Documentation

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

Reimplemented from pcl::PCLBase< PointInT >.

Definition at line 62 of file concave_hull.h.

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

Reimplemented from pcl::PCLBase< PointInT >.

Definition at line 64 of file concave_hull.h.

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

Reimplemented from pcl::PCLBase< PointInT >.

Definition at line 63 of file concave_hull.h.


Constructor & Destructor Documentation

template<typename PointInT >
pcl::ConcaveHull< PointInT >::ConcaveHull (  )  [inline]

Empty constructor.

Definition at line 67 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 102 of file concave_hull.h.

template<typename PointInT >
std::string pcl::ConcaveHull< PointInT >::getClassName (  )  const [inline, protected]

Class get name method.

Definition at line 129 of file concave_hull.h.

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 98 of file concave_hull.hpp.

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

Copyright (c) 2010, Willow Garage, Inc. All rights reserved.

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:
concave_hull.hpp 1370 2011-06-19 01:06:01Z jspricke

Definition at line 76 of file concave_hull.hpp.

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 95 of file concave_hull.h.

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 121 of file concave_hull.h.

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 111 of file concave_hull.h.


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