pcl 凸包ConvexHull

头文件等

#include <pcl/surface/convex_hull.h>typedef pcl::PointXYZ PointT;
typedef pcl::PointCloud<PointT> CloudT;
typedef CloudT::Ptr CP

代码

CP PSO::tubao(CP cloud) {pcl::ConvexHull<PointT> hull;hull.setInputCloud(cloud);hull.setDimension(3);std::vector<pcl::Vertices> polygons;CP surface_hull(new CloudT);hull.reconstruct(*surface_hull, polygons);//cout << surface_hull->size() << endl;return surface_hull;
}

结果