Incremental 3D-Convexhull algorithm

This repository contains an C++ implementation of 3D-ConvexHull algorithm from the
book Computational Geometry in C by O'Rourke. RVIZ is used for visualization but is
not required to use this package. This code is implemented with C++11 STL conta-
iners only. The files are well documented, feel free to poke around.

Build and Run (using RVIZ)

catkin_make
source devel/setup.bash
roscore
rosrun convexhull_demo convex_node
rviz

Build and Run (text output only)

cd /src
g++ -std=c++11 convexhull.cpp plain_demo.cpp -o test.o && ./test.o

Example Usage

Although in this example pcl pointcloud was used, the interface is a template
function that takes any vector with points (expect to have field x, y and z)

func(pcl::PointCloud<pcl::PointXYZI>::Ptr PC, Point3D& p)   
{  
   Convexhull ch(PC->points);  
   if(ch.Contains(p)) // surface point is consider outside  
   {  
     //do something  
    }  
    auto vertices = ch.GetVertices();   
    auto faces = ch.GetFaces();  
    ...  
}  

Who calls whom

ConvexHull()
--ConstructHull()
  -- BulildFirstHull()
     -- Colinear()
     -- Coplanar()
     -- AddOneFace()
  -- IncreHull()
     -- VolumeSign()
     -- AddOneFace()
  -- CleanUp()
  -- ExtractExteriorPoints()

License

MIT License