// TODO: This method is only used for planar segmentation, consider removing
Box3D
minAreaRect(pcl::PointCloud<PointT>::Ptr &input_cloud)
{
//assuming chull is already sequential, if not we'll need to sort it. It seems like it is.
Box3D box;
pcl::PointCloud<PointT>::Ptr cloud_hull (new pcl::PointCloud<PointT>);
pcl::ConvexHull<PointT> chull;
chull.setInputCloud (input_cloud);
chull.reconstruct (*cloud_hull);
int n = cloud_hull->size();
PointT out[3];
if( n > 2 )
{
rotatingCalipers( cloud_hull, n, CALIPERS_MINAREARECT, out );
box.center.x = out[0].x + (out[1].x + out[2].x)*0.5f;
box.center.y = out[0].y + (out[1].y + out[2].y)*0.5f;
/*box.size.xSize = (float)sqrt((double)out[1].x*out[1].x + (double)out[1].y*out[1].y);
box.size.ySize = (float)sqrt((double)out[2].x*out[2].x + (double)out[2].y*out[2].y);
box.angle = (float)atan2( (double)out[1].y, (double)out[1].x );*/
//xSize always the long!
float norm1 = (float)sqrt((double)out[1].x*out[1].x + (double)out[1].y*out[1].y);
float norm2 = (float)sqrt((double)out[2].x*out[2].x + (double)out[2].y*out[2].y);
if(norm1 > norm2)
{
box.size.xSize = norm1;
box.size.ySize = norm2;
//box.angle = (float)atan2( (double)out[1].y, (double)out[1].x );//(float)atan(out[1].y/out[1].x);//
}
else
{
box.size.xSize = norm2;
box.size.ySize = norm1;
//box.angle = (float)atan2( (double)out[2].y, (double)out[2].x ); //(float)atan(out[2].y/out[2].x);//
}
} //haven't tested the below cases!
else if( n == 2 )
{
box.center.x = ( cloud_hull->points[0].x + cloud_hull->points[1].x)*0.5f;
box.center.y = ( cloud_hull->points[0].y + cloud_hull->points[1].y)*0.5f;
double dx = cloud_hull->points[1].x - cloud_hull->points[0].x;
double dy = cloud_hull->points[1].y - cloud_hull->points[0].y;
box.size.xSize = (float)sqrt(dx*dx + dy*dy);
box.size.ySize = 0;
//box.angle = (float)atan2( dy, dx );
}
else
{
if( n == 1 )
box.center.x = cloud_hull->points[0].x;
box.center.y = cloud_hull->points[0].y;
//box.angle = 0;
}
//box.fillQuatGivenAxisAngle();
return box;
}
cv::RotatedRect cv::minAreaRect( InputArray _points )
{
Mat hull;
Point2f out[3];
RotatedRect box;
convexHull(_points, hull, true, true);
if( hull.depth() != CV_32F )
{
Mat temp;
hull.convertTo(temp, CV_32F);
hull = temp;
}
int n = hull.checkVector(2);
const Point2f* hpoints = hull.ptr<Point2f>();
if( n > 2 )
{
rotatingCalipers( hpoints, n, CALIPERS_MINAREARECT, (float*)out );
box.center.x = out[0].x + (out[1].x + out[2].x)*0.5f;
box.center.y = out[0].y + (out[1].y + out[2].y)*0.5f;
box.size.width = (float)std::sqrt((double)out[1].x*out[1].x + (double)out[1].y*out[1].y);
box.size.height = (float)std::sqrt((double)out[2].x*out[2].x + (double)out[2].y*out[2].y);
box.angle = (float)atan2( (double)out[1].y, (double)out[1].x );
}
else if( n == 2 )
{
box.center.x = (hpoints[0].x + hpoints[1].x)*0.5f;
box.center.y = (hpoints[0].y + hpoints[1].y)*0.5f;
double dx = hpoints[1].x - hpoints[0].x;
double dy = hpoints[1].y - hpoints[0].y;
box.size.width = (float)std::sqrt(dx*dx + dy*dy);
box.size.height = 0;
box.angle = (float)atan2( dy, dx );
}
else
{
if( n == 1 )
box.center = hpoints[0];
}
box.angle = (float)(box.angle*180/CV_PI);
return box;
}
