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