convex_hull.h

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 * $Id: convex_hull.h 3753 2011-12-31 23:30:57Z 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 () : total_area_(0), total_volume_(0), dim_(0)
      {
        keep_information_ = false;
        compute_area_ = false;
      };

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

      void
      reconstruct (PointCloud &output);

      void
      setKeepInformation (bool value)
      {
        keep_information_ = value;
      }

      void
      setComputeAreaVolume (bool value)
      {
        compute_area_ = value;
      }

      double
      getTotalArea ()
      {
        return total_area_;
      }

      double
      getTotalVolume ()
      {
        return total_volume_;
      }

      inline int
      getDim () const
      {
        return dim_;
      }

    protected:
      void
      performReconstruction (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);


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

      bool keep_information_;
      bool compute_area_;
      double total_area_;
      double total_volume_;
      
      int dim_;

    };
}

#endif  //#ifndef PCL_CONVEX_HULL_2D_H_
#endif