pcl convex hull ConvexHull and ConcaveHull

PCL calculates ConvexHull convex hull and ConcaveHull concave hull_pcl::concavehull_com1098247427's blog-CSDN Blog

 1. Convex Hull 

// 凸包
int convex_Hull(pcl::PointCloud<pcl::PointXYZ>::Ptr  &cloud_in, float  alpha, pcl::PolygonMesh  &model)
{
	if (cloud_in->size()<0)
	{
		return  -1;
	}


	std::vector<pcl::Vertices> polygons;
	pcl::ConvexHull<pcl::PointXYZ>convex_Hull;
	convex_Hull.setInputCloud(cloud_in);
	convex_Hull.reconstruct(model, polygons);
}

 

  2. Concave Hull

//  
//  
int concave_Hull(pcl::PointCloud<pcl::PointXYZ>::Ptr  &cloud_in, float  alpha, pcl::PolygonMesh  &model)
{
	if (cloud_in->size()<0)
	{
		return  -1;
	}
	std::vector<pcl::Vertices> polygons;
	pcl::ConcaveHull<pcl::PointXYZ> concave_Hull;
	concave_Hull.setInputCloud(cloud_in);
	concave_Hull.setAlpha(alpha);
	concave_Hull.reconstruct(model, polygons);
}

 display code:

int  ShowCloudAndMesh(pcl::PointCloud<pcl::PointXYZRGB>::Ptr  cloud_normal, pcl::PolygonMesh &model)
{
	// 创建可视化对象
	pcl::visualization::PCLVisualizer viewer("viewer");

	// 将当前窗口，拆分成横向的2个可视化窗口，以viewport区分(v1/v2)
	int v1;
	int v2;
	//窗口参数分别对应 x_min, y_min, x_max, y_max, viewport
	viewer.createViewPort(0.0, 0.0, 0.5, 1.0, v1);
	viewer.createViewPort(0.5, 0.0, 1.0, 1.0, v2);

	// 添加2d文字标签
	viewer.addText("v1", 10, 10, 20, 1, 0, 0, "viewport_v1", v1);
	viewer.addText("v2", 10, 10, 20, 0, 1, 0, "viewport_v2", v2);

	// 添加坐标系
	//viewer.addCoordinateSystem(0.5);    // 单位：m

										// 设置可视化窗口背景色
	viewer.setBackgroundColor(0.2, 0.2, 0.2);     // r,g,b  0~1之间

												  // 向v1窗口中添加点云
	viewer.addPointCloud(cloud_normal, "cloud_src", v1);

	// 向v2窗口中添加PolygonMesh对象
	viewer.addPolygonMesh(model, "mesh_src", v2);

	// // 设置可视化窗口内的所有mesh为线框模式，部分情况下，便于可视化debug
	// viewer.setRepresentationToWireframeForAllActors();

	// 关闭窗口则退出
	while (!viewer.wasStopped()) {
		viewer.spinOnce(100);
		boost::this_thread::sleep(boost::posix_time::microseconds(100000));
	}
	return 0;

}