Point Cloud Library (PCL)
1.3.1
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00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2010, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of Willow Garage, Inc. nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 * 00034 * $Id: concave_hull.h 1864 2011-07-23 00:35:06Z rusu $ 00035 * 00036 */ 00037 00038 #include <pcl/pcl_config.h> 00039 #ifdef HAVE_QHULL 00040 00041 #ifndef PCL_CONCAVE_HULL_H 00042 #define PCL_CONCAVE_HULL_H 00043 00044 #include "pcl/surface/convex_hull.h" 00045 00046 namespace pcl 00047 { 00049 00053 template<typename PointInT> 00054 class ConcaveHull : public PCLBase<PointInT> 00055 { 00056 using PCLBase<PointInT>::input_; 00057 using PCLBase<PointInT>::indices_; 00058 using PCLBase<PointInT>::initCompute; 00059 using PCLBase<PointInT>::deinitCompute; 00060 00061 public: 00062 typedef pcl::PointCloud<PointInT> PointCloud; 00063 typedef typename PointCloud::Ptr PointCloudPtr; 00064 typedef typename PointCloud::ConstPtr PointCloudConstPtr; 00065 00067 ConcaveHull () : alpha_ (0), keep_information_ (false), voronoi_centers_ () 00068 { 00069 }; 00070 00077 void 00078 reconstruct (PointCloud &points, 00079 std::vector<pcl::Vertices> &polygons); 00080 00084 void 00085 reconstruct (PointCloud &output); 00086 00093 inline void 00094 setAlpha (double alpha) 00095 { 00096 alpha_ = alpha; 00097 } 00098 00100 inline double 00101 getAlpha () 00102 { 00103 return (alpha_); 00104 } 00105 00109 inline void 00110 setVoronoiCenters (PointCloudPtr voronoi_centers) 00111 { 00112 voronoi_centers_ = voronoi_centers; 00113 } 00114 00119 void 00120 setKeepInformation (bool value) 00121 { 00122 keep_information_ = value; 00123 } 00124 00125 protected: 00127 std::string 00128 getClassName () const 00129 { 00130 return ("ConcaveHull"); 00131 } 00132 00133 private: 00135 double alpha_; 00136 00138 bool keep_information_; 00139 00141 PointCloudPtr voronoi_centers_; 00142 00149 void 00150 performReconstruction (PointCloud &points, 00151 std::vector<pcl::Vertices> &polygons); 00152 }; 00153 } 00154 00155 #endif //#ifndef PCL_CONCAVE_HULL 00156 #endif