concave_hull.h

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/*
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 *  Point Cloud Library (PCL) - www.pointclouds.org
 *  Copyright (c) 2009-2012, Willow Garage, Inc.
 *
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 * $Id: concave_hull.h 6126 2012-07-03 20:19:58Z aichim $
 *
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#include <pcl/pcl_config.h>
#ifdef HAVE_QHULL

#ifndef PCL_CONCAVE_HULL_H
#define PCL_CONCAVE_HULL_H

#include <pcl/surface/convex_hull.h>

namespace pcl
{

  template<typename PointInT>
  class ConcaveHull : 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;

      ConcaveHull () : alpha_ (0), keep_information_ (false), voronoi_centers_ (), dim_(0)
      {
      };

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

      void
      reconstruct (PointCloud &output);

      inline void
      setAlpha (double alpha)
      {
        alpha_ = alpha;
      }

      inline double
      getAlpha ()
      {
        return (alpha_);
      }

      inline void
      setVoronoiCenters (PointCloudPtr voronoi_centers)
      {
        voronoi_centers_ = voronoi_centers;
      }

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

      inline int
      getDim () const
      {
        return dim_;
      }

      inline int
      getDimension () const
      {
        return dim_;
      }

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

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

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

      virtual void
      performReconstruction (PolygonMesh &output);

      virtual void
      performReconstruction (std::vector<pcl::Vertices> &polygons);

      double alpha_;

      bool keep_information_;

      PointCloudPtr voronoi_centers_;
      
      int dim_;
  };
}

#endif  //#ifndef PCL_CONCAVE_HULL
#endif