surface_convex_hull.cpp

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 * $Id: surface_convex_hull.cpp 36118 2011-02-22 00:10:08Z rusu $
 *
 */

#include "pcl/ModelCoefficients.h"

#include "pcl/io/pcd_io.h"
#include "pcl/point_types.h"

#include "pcl/sample_consensus/method_types.h"
#include "pcl/sample_consensus/model_types.h"
#include "pcl/filters/passthrough.h"
#include "pcl/filters/project_inliers.h"
#include "pcl/segmentation/sac_segmentation.h"
#include "pcl/surface/convex_hull.h"

/* ---[ */
int
  main (int argc, char** argv)
{
  pcl::PointCloud<pcl::PointXYZ>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZ> ()), cloud_filtered (new pcl::PointCloud<pcl::PointXYZ> ()), cloud_projected (new pcl::PointCloud<pcl::PointXYZ> ());
  pcl::PCDReader reader;
  reader.read ("table_scene_mug_stereo_textured.pcd", *cloud);

  // Build a filter to remove spurious NaNs
  pcl::PassThrough<pcl::PointXYZ> pass;
  pass.setInputCloud (cloud);
  pass.setFilterFieldName ("z");
  pass.setFilterLimits (0, 1.1);
  pass.filter (*cloud_filtered);
  ROS_INFO ("PointCloud after filtering has: %zu data points.", cloud_filtered->points.size ());

  pcl::ModelCoefficients::Ptr coefficients (new pcl::ModelCoefficients ());
  pcl::PointIndices::Ptr inliers (new pcl::PointIndices ());
  // Create the segmentation object
  pcl::SACSegmentation<pcl::PointXYZ> seg;
  // Optional
  seg.setOptimizeCoefficients (true);
  // Mandatory
  seg.setModelType (pcl::SACMODEL_PLANE);
  seg.setMethodType (pcl::SAC_RANSAC);
  seg.setDistanceThreshold (0.01);

  seg.setInputCloud (cloud_filtered);
  seg.segment (*inliers, *coefficients);

  // Project the model inliers 
  pcl::ProjectInliers<pcl::PointXYZ> proj;
  proj.setModelType (pcl::SACMODEL_PLANE);
  proj.setInputCloud (cloud_filtered);
  proj.setModelCoefficients (coefficients);
  proj.filter (*cloud_projected);

  // Create a Convex Hull representation of the projected inliers
  pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_hull (new pcl::PointCloud<pcl::PointXYZ> ());
  pcl::ConvexHull<pcl::PointXYZ> chull;
  chull.setInputCloud (cloud_projected);
  chull.reconstruct (*cloud_hull);

  ROS_INFO ("Convex hull has: %zu data points.", cloud_hull->points.size ());

  pcl::PCDWriter writer; 
  writer.write ("table_scene_mug_stereo_textured_hull.pcd", *cloud_hull, false);

  return (0);
}
/* ]--- */

---

pcl_tutorials
Author(s): Radu Bogdan Rusu, Bastian Steder
autogenerated on Fri Jan 11 09:12:59 2013