一、凸包
用不严谨的话来讲,给定二维平面上的点集,凸包就是将最外层的点连接起来构成的凸多边形,它能包含点集中所有的点。百度百科——凸包
二、代码实现
#include <iostream> // io
#include <pcl/io/pcd_io.h> // PCL读取PCD
#include <pcl/point_types.h> // PCL点类型
#include <CGAL/Point_set_3/IO/XYZ.h>// CGAL保存点为.xyz
#include <CGAL/convex_hull_2.h> // 二维凸包
#include <CGAL/Exact_predicates_inexact_constructions_kernel.h>
typedef CGAL::Exact_predicates_inexact_constructions_kernel Kernel;
int main()
{
//-------------------------加载二维PCD点云数据------------------------------
pcl::PointCloud<pcl::PointXY>::Ptr cloud(new pcl::PointCloud<pcl::PointXY>);
if (pcl::io::loadPCDFile<pcl::PointXY>("cgal//cloud.pcd", *cloud) == -1)
{
PCL_ERROR("Could not read file\n");
return -1;
}
// ------------------------转为CGAL支持的格式------------------------------
std::vector<Kernel::Point_2> points;
for (size_t i = 0; i < cloud->size(); ++i)
{
double px = cloud->points[i].x;
double py = cloud->points[i].y;
points.push_back(Kernel::Point_2(px, py));
}
CGAL::IO::write_XYZ("cgal//pro.xyz", points);
// --------------------------提取二维凸包点--------------------------------
std::vector<Kernel::Point_2> result;
CGAL::convex_hull_2(points.begin(), points.end(), std::back_inserter(result));
std::cout << result.size() << " points on the convex hull" << std::endl;
CGAL::IO::write_XYZ("cgal//convex_hull_2d.xyz", result);
return 0;
}