convex_hull_2d.cpp

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#include "ed/convex_hull_2d.h"
 
namespace ed
{
 
double ConvexHull2D::area() const
{
    double a = 0.0;
    for ( pcl::PointCloud<pcl::PointXYZ>::const_iterator ch_it = chull.begin(); ch_it != chull.end(); ++ch_it)
    {
        double x1 = ch_it->x;
        double y1 = ch_it->y;
        double x2;
        double y2;
        if (ch_it != chull.end()-1)
        {
            x2 = (ch_it+1)->x;
            y2 = (ch_it+1)->y;
        } else
        {
            x2 = chull.begin()->x;
            y2 = chull.begin()->y;
        }
        a = a + 0.5*(x1*y2 - x2*y1);
    }
    return a;
}
 
double ConvexHull2D::height() const
{
    return max_z - min_z;
}
 
double ConvexHull2D::volume() const
{
    return area() * height();
}
 
}