convex_hull.h

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 * $Id: convex_hull.h 5026 2012-03-12 02:51:44Z rusu $
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#include <pcl/pcl_config.h>
#ifdef HAVE_QHULL

#ifndef PCL_CONVEX_HULL_2D_H_
#define PCL_CONVEX_HULL_2D_H_

// PCL includes
#include <pcl/surface/reconstruction.h>
#include <pcl/ModelCoefficients.h>
#include <pcl/PolygonMesh.h>

namespace pcl
{
  inline bool
  comparePoints2D (const std::pair<int, Eigen::Vector4f> & p1, const std::pair<int, Eigen::Vector4f> & p2)
  {
    double angle1 = atan2 (p1.second[1], p1.second[0]) + M_PI;
    double angle2 = atan2 (p2.second[1], p2.second[0]) + M_PI;
    return (angle1 > angle2);
  }


  template<typename PointInT>
  class ConvexHull : public MeshConstruction<PointInT>
  {
    protected:
      using PCLBase<PointInT>::input_;
      using PCLBase<PointInT>::indices_;
      using PCLBase<PointInT>::initCompute;
      using PCLBase<PointInT>::deinitCompute;

    public:
      using MeshConstruction<PointInT>::reconstruct;

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

      ConvexHull () : compute_area_ (false), total_area_ (0), total_volume_ (0), dimension_ (0), 
                      projection_angle_thresh_ (cos (0.174532925) ), qhull_flags ("qhull "),
                      x_axis_ (1.0, 0.0, 0.0), y_axis_ (0.0, 1.0, 0.0), z_axis_ (0.0, 0.0, 1.0)
      {
      };

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

      void
      reconstruct (PointCloud &output);

      void
      setComputeAreaVolume (bool value)
      {
        compute_area_ = value;
        if (compute_area_)
          qhull_flags = std::string ("qhull FA");
        else
          qhull_flags = std::string ("qhull ");
      }

      double
      getTotalArea () const
      {
        return (total_area_);
      }

      double
      getTotalVolume () const
      {
        return (total_volume_);
      }

      void 
      setDimension (int dimension)
      {
        if ((dimension == 2) || (dimension == 3))
          dimension_ = dimension;
        else
          PCL_ERROR ("[pcl::%s::setDimension] Invalid input dimension specified!\n", getClassName ().c_str ());
      }

      inline int
      getDimension () const
      {
        return (dimension_);
      }

    protected:
      void
      performReconstruction (PointCloud &points, 
                             std::vector<pcl::Vertices> &polygons, 
                             bool fill_polygon_data = false);
      
      void
      performReconstruction2D (PointCloud &points, 
                               std::vector<pcl::Vertices> &polygons, 
                               bool fill_polygon_data = false);
      
      void
      performReconstruction3D (PointCloud &points, 
                               std::vector<pcl::Vertices> &polygons, 
                               bool fill_polygon_data = false);
      
      virtual void
      performReconstruction (PolygonMesh &output);
      
      virtual void
      performReconstruction (std::vector<pcl::Vertices> &polygons);

      void 
      calculateInputDimension ();

      std::string
      getClassName () const
      {
        return ("ConvexHull");
      }

      /* \brief True if we should compute the area and volume of the convex hull. */
      bool compute_area_;

      /* \brief The area of the convex hull. */
      double total_area_;

      /* \brief The volume of the convex hull (only for 3D hulls, zero for 2D). */
      double total_volume_;
      
      int dimension_;

      double projection_angle_thresh_;

      std::string qhull_flags;

      /* \brief x-axis - for checking valid projections. */
      const Eigen::Vector3f x_axis_;

      /* \brief y-axis - for checking valid projections. */
      const Eigen::Vector3f y_axis_;

      /* \brief z-axis - for checking valid projections. */
      const Eigen::Vector3f z_axis_;

      public:
        EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  };
}

#endif  //#ifndef PCL_CONVEX_HULL_2D_H_
#endif