Qhull库C++接口修改

Qhull（http://www.qhull.org/）是一个强大的计算几何库，可以用于计算高维的convex hull, Delaunay triangulation, Voronoi diagram等，在python中调用非常方便，最近由于需要将项目迁移到C++，因此折腾了一下。qhull的c++接口并不太完善，很多接口是基于Rbox（生成数据），因此我根据自身需要，修改了qhull的c++接口。

总体要求：输入：3D/4D点集，输出：对应的凸包。

主要修改libqhullcpp文件夹中的：Qhull.h 和 Qhull.cpp

1 Qhull.h 代码修改

public:
void runQhull3D(const std::vector<cv::Vec3d> &points, const char* args);
void runQhull4D(const std::vector<cv::Vec4d> &points, const char* args);
void runQhull(const PointCoordinates &points, const char *qhullCommand2);

2 Qhull.cpp 代码修改

void Qhull::runQhull3D(const std::vector<cv::Vec3d> &points, const char* args)
{
	m_externalPoints = new PointCoordinates(3, "");  //3 = dimension
	vector<double> allPoints;
	for each (cv::Vec3d p in points)
	{
		allPoints.push_back(p[0]);
		allPoints.push_back(p[1]);
		allPoints.push_back(p[2]);
	}

	m_externalPoints->append(allPoints); //convert to vector<double>
	runQhull(*m_externalPoints, args);
}

void Qhull::runQhull4D(const std::vector<cv::Vec4d> &points, const char* args)
{
	m_externalPoints = new PointCoordinates(4, "");  //3 = dimension
	vector<double> allPoints;
	for each (cv::Vec4d p in points)
	{
		allPoints.push_back(p[0]);
		allPoints.push_back(p[1]);
		allPoints.push_back(p[2]);
		allPoints.push_back(p[3]);
	}

	m_externalPoints->append(allPoints); //convert to vector<double>
	runQhull(*m_externalPoints, args);
}

void Qhull::runQhull(const PointCoordinates &points, const char *qhullCommand2)
{
	runQhull(points.comment().c_str(), points.dimension(), points.count(), &*points.coordinates(), qhullCommand2);
}

3.测试代码

求如下立方体的凸包：

#include "libqhullcpp/QhullFacetList.h"
#include "libqhullcpp/Qhull.h"
#include <opencv2/core.hpp>

using namespace orgQhull;
using namespace std;

//遍历凸包所有的顶点
void print_convexhull_vertices(Qhull& qhull) {
	cout << "vertices are: " << endl;
	QhullVertexList list = qhull.vertexList();
	for (QhullVertexList::iterator it = list.begin(); it != list.end(); it++)
	{
		QhullVertex v = *it;
		QhullPoint p = v.point();
		cout << "id: " << p.id() << " coord:" << p << endl;;
	}
}

//遍历凸包上的面片
void print_facets(Qhull& qhull) {
	cout << "faces are: " << endl;
	QhullFacetList facets = qhull.facetList();
	for (QhullFacetList::iterator it = facets.begin(); it != facets.end(); ++it)
	{
		if (!(*it).isGood()) continue;
		QhullFacet f = *it;
		QhullVertexSet vSet = f.vertices();
		for (QhullVertexSet::iterator vIt = vSet.begin(); vIt != vSet.end(); ++vIt)
		{
			QhullVertex v = *vIt;

			QhullPoint p = v.point();
			cout << p.id() << " ";
		}
		cout << endl;
	}
	cout << endl;
}

//遍历凸包上面片的法向
//qhull的法向能保证一致的朝向外部，但三角面片的顶点顺序并不一定对，可以通过法向来矫正
void print_face_normal(Qhull& qhull) {
	cout << "normal are: " << endl;
	std::vector<std::pair<cv::Vec3d, double> > facetsNormals;
	for each (QhullFacet facet in qhull.facetList().toStdVector())
	{
		if (facet.hyperplane().isValid())
		{
			auto coord = facet.hyperplane().coordinates();
			cv::Vec3d normal(coord[0], coord[1], coord[2]);
			double offset = facet.hyperplane().offset();
			facetsNormals.push_back(std::pair<cv::Vec3d, double>(normal, offset));

			cout << normal << endl;
		}
	}
}

void test() {
		Qhull qhull;
		std::vector<cv::Vec3d> vertices1(9);

		vertices1[0] = cv::Vec3d(0, 0, 0);
		vertices1[1] = cv::Vec3d(2, 0, 0);
		vertices1[2] = cv::Vec3d(2, 2, 0);
		vertices1[3] = cv::Vec3d(0, 2, 0);
		vertices1[4] = cv::Vec3d(0, 0, 2);
		vertices1[5] = cv::Vec3d(2, 0, 2);
		vertices1[6] = cv::Vec3d(2, 2, 2);
		vertices1[7] = cv::Vec3d(0, 2, 2);

		qhull.runQhull3D(vertices1, "Qt");
		print_convexhull_vertices(qhull);
		print_facets(qhull);
		print_face_normal(qhull);
}

输出：
vertices are:
id: 3 coord: 0 2 0

id: 2 coord: 2 2 0

id: 1 coord: 2 0 0

id: 0 coord: 0 0 0

id: 5 coord: 2 0 2

id: 4 coord: 0 0 2

id: 7 coord: 0 2 2

id: 6 coord: 2 2 2

faces are:
3 2 1
3 1 0
5 1 0
5 4 0
7 3 0
7 4 0
6 2 1
6 5 1
6 3 2
6 7 3
6 5 4
6 7 4

normal are:
[0, 0, -1]
[0, 0, -1]
[0, -1, 0]
[0, -1, 0]
[-1, 0, 0]
[-1, 0, 0]
[1, 0, 0]
[1, 0, 0]
[0, 1, 0]
[0, 1, 0]
[0, 0, 1]
[0, 0, 1]

参考：https://stackoverflow.com/questions/19530731/qhull-library-c-interface