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.. _convex_hull_2d:
Construct a convex hull polygon for a plane model
-------------------------------------------------
In this tutorial we will learn how to calculate a simple 2D convex hull polygon
for a set of points supported by a plane.
The following video shows a demonstration of the code given below on the test
dataset `table_scene_mug_stereo_textured.pcd
<https://raw.github.com/PointCloudLibrary/data/master/tutorials/table_scene_mug_stereo_textured.pcd>`_.
.. raw:: html
<iframe title="Acquiring the convex hull of a planar surface" width="480" height="390" src="https://www.youtube.com/embed/J9CjWDgPDTM?rel=0" frameborder="0" allowfullscreen></iframe>
The code
--------
First, download the dataset `table_scene_mug_stereo_textured.pcd
<https://raw.github.com/PointCloudLibrary/data/master/tutorials/table_scene_mug_stereo_textured.pcd>`_
and save it somewhere to disk.
Then, create a file, let's say, ``convex_hull_2d.cpp`` in your favorite
editor, and place the following inside it:
.. literalinclude:: sources/convex_hull_2d/convex_hull_2d.cpp
:language: cpp
:linenos:
The explanation
---------------
The only interesting part is in the lines below, where the ConvexHull object
gets created and the reconstruction is performed:
.. literalinclude:: sources/convex_hull_2d/convex_hull_2d.cpp
:language: cpp
:lines: 49-52
Compiling and running the program
---------------------------------
Add the following lines to your CMakeLists.txt file:
.. literalinclude:: sources/convex_hull_2d/CMakeLists.txt
:language: cmake
:linenos:
After you have made the executable, you can run it. Simply do::
$ ./convex_hull_2d
You will see *something similar* to::
PointCloud after filtering has: 139656 data points.
Convex hull has: 30 data points.
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