int main() {
long cases, answer;
scanf("%ld", &cases);
while (cases--) {
input();
findConvexHull();
answer = calArea();
if (answer & 1) printf("%ld.5\n", answer / 2);
else printf("%ld.0\n", answer / 2);
}
return 0;
}
/**
* @brief It computes de boundary of a cloud. The mask must have at least one element.
*
* @param cloud Cloud in which the boundary are computed.
*/
void PlaneSegmentation::computeBoundary(const pcl::PointCloud<pcl::PointXYZRGBA>::ConstPtr &cloud) {
// Compute normals.
pcl::PointCloud<pcl::Normal>::Ptr normals(new pcl::PointCloud<pcl::Normal>());
estimateNormals(cloud, normals, 0.015);
// Ignore points with a different normal.
pcl::PointIndices::Ptr filtIndices(new pcl::PointIndices());
filterByNormal(normals, maskIndices, coefficients, 15.0, filtIndices);
// Project point cloud to a plane.
pcl::ModelCoefficients::ConstPtr coefPtr = boost::make_shared<pcl::ModelCoefficients>(coefficients);
pcl::PointCloud<pcl::PointXYZRGBA>::Ptr projectedCloud = pcl::PointCloud<pcl::PointXYZRGBA>::Ptr(new pcl::PointCloud<pcl::PointXYZRGBA>());
projectToPlane(cloud, coefPtr, projectedCloud);
// Clustering.
std::vector<pcl::PointIndices> clusterIndices;
clustering(projectedCloud, filtIndices, 0.02, 5000, clusterIndices);
assert(clusterIndices.size() > 0);
// Find the biggest cluster.
int max_size = clusterIndices[0].indices.size();
int max_pos = 0;
for(int i = 0; i < clusterIndices.size(); i++) {
if (clusterIndices[i].indices.size() > max_size) {
max_size = clusterIndices[i].indices.size();
max_pos = i;
}
}
pcl::PointIndices::ConstPtr clusterIndicesPtr = boost::make_shared<pcl::PointIndices>(clusterIndices[max_pos]);
// Compute the convex hull of the cluster.
pcl::PointIndices hullIndices = pcl::PointIndices();
findConvexHull(projectedCloud, clusterIndicesPtr, hullIndices);
pcl::PointIndices::ConstPtr hullIndicesPtr = boost::make_shared<pcl::PointIndices>(hullIndices);
// Simplify convex polygon.
pcl::PointIndices boundaryIndices;
polygonSimplification(projectedCloud, hullIndicesPtr, coefficients.values, 4, boundaryIndices);
// Copy boundary points.
boundary = std::vector<pcl::PointXYZRGBA>(boundaryIndices.indices.size());
for(int j = 0; j < boundary.size(); j++) {
boundary[j] = cloud->points[boundaryIndices.indices[j]];
}
}
