matlab convexhull,使用convex_hull计算体积为0

大家好，我尝试用convex_hall去计算点云的体积，但是编译通过之后体积算出来是0，不知道是哪里出了问题。希望大家能不吝赐教，谢谢大家~下面贴出我的代码:

#include

#include

#include

#include

#include

#include

#include

using namespace std;

using namespace pcl;

using namespace pcl::io;

using namespace pcl::console;

float default_alpha = 0.15f;

void

printHelp (int, char **argv)

{

print_error ("Syntax is: %s input.pcd output.vtk [optional_arguments]\n", argv[0]);

print_info ("  where the optional arguments are:\n");

print_info ("                     -alpha X = the alpha value for the ConcaveHull (Alpha Shapes) algorithm. If alpha is not specified, the tool will run the ConvexHull method (default: ");

print_value ("%f", default_alpha); print_info (")\n");

}

float

compute (PointCloud::ConstPtr cloud_in,

bool convex_concave_hull,

float alpha,

PolygonMesh &mesh_out)

{

float volume;

if (!convex_concave_hull)

{

print_info ("Computing the convex hull of a cloud with %zu points.\n", cloud_in->size ());

ConvexHull convex_hull;

convex_hull.setInputCloud (cloud_in);

convex_hull.reconstruct (mesh_out);

convex_hull.setComputeAreaVolume(true);

volume=convex_hull.getTotalVolume();

return volume;

}

else

{

print_info ("Computing the concave hull (alpha shapes) with alpha %f of a cloud with %zu points.\n", alpha, cloud_in->size ());

ConcaveHull concave_hull;

concave_hull.setInputCloud (cloud_in);

concave_hull.setAlpha (alpha);

concave_hull.reconstruct (mesh_out);

}

}

/* ---[ */

int

main (int argc, char** argv)

{

float volume;

print_info ("Compute the convex or concave hull of a point cloud. For more information, use: %s -h\n", argv[0]);

// if (argc < 3)

//  {

printHelp (argc, argv);

//  return (-1);

//  }

// Command line parsing

bool convex_concave_hull = false;

float alpha = default_alpha;

if (parse_argument (argc, argv, "-alpha", alpha) != -1)

convex_concave_hull = true;

vector pcd_file_indices;

pcd_file_indices = parse_file_extension_argument (argc, argv, ".pcd");

if (pcd_file_indices.size () != 1)

{

print_error ("Need one input PCD file to continue.\n");

return (-1);

}

vector vtk_file_indices;

vtk_file_indices = parse_file_extension_argument (argc, argv, ".vtk");

if (vtk_file_indices.size () != 1)

{

print_error ("Need one ouput VTK file to continue.\n");

return (-1);

}

// Load in the point cloud

PointCloud::Ptr cloud_in (new PointCloud ());

if (loadPCDFile (argv[pcd_file_indices[0]], *cloud_in) != 0)

{

print_error ("Could not load input file %s\n", argv[pcd_file_indices[0]]);

return (-1);

}

// Compute the hull

PolygonMesh mesh_out;

volume=compute (cloud_in, convex_concave_hull, alpha, mesh_out);

// Save the mesh

io::saveVTKFile (argv[vtk_file_indices[0]], mesh_out);

cout<

return (0);

}