convex_hull_2d.h

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#ifndef ED_CONVEX_HULL_2D_H_
#define ED_CONVEX_HULL_2D_H_
 
#include <pcl/point_types.h>
#include <pcl/point_cloud.h>
 
#include <opencv2/core/core.hpp>
 
#include <geolib/datatypes.h>
 
#include <vector>
 
namespace ed
{
 
typedef std::vector< std::vector<cv::Point2i> > IndexMap;
 
struct ConvexHull2D {
    ConvexHull2D() : center_point(geo::Vector3(0, 0, 0)) {}
    pcl::PointCloud<pcl::PointXYZ> chull; // Convex hull point w.r.t. center
    double min_z, max_z; // min and max z of convex hull
    geo::Vector3 center_point; // Center of the convex hull
 
    double area() const;
    double height() const;
    double volume() const;
};
 
struct ConvexHull2DWithIndices {
    std::vector<cv::Point2i> indices;
    ConvexHull2D convex_hull_2d;
};
 
} // end namespace ed
 
#endif