176 lines
6.7 KiB
C
176 lines
6.7 KiB
C
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/*
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* Software License Agreement (BSD License)
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*
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* Point Cloud Library (PCL) - www.pointclouds.org
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* Copyright (c) 2009-2012, Willow Garage, Inc.
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* Copyright (c) 2012-, Open Perception, Inc.
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*
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of the copyright holder(s) nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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* $Id$
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*
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*/
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#pragma once
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#include <pcl/geometry/mesh_base.h>
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#include <pcl/memory.h>
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#include <pcl/pcl_macros.h>
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namespace pcl {
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namespace geometry {
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/** \brief Tag describing the type of the mesh. */
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struct QuadMeshTag {};
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/** \brief Half-edge mesh that can only store quads.
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* \tparam MeshTraitsT Please have a look at pcl::geometry::DefaultMeshTraits.
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* \author Martin Saelzle
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* \ingroup geometry
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*/
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template <class MeshTraitsT>
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class QuadMesh
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: public pcl::geometry::MeshBase<QuadMesh<MeshTraitsT>, MeshTraitsT, QuadMeshTag> {
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public:
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using Base = pcl::geometry::MeshBase<QuadMesh<MeshTraitsT>, MeshTraitsT, QuadMeshTag>;
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using Self = QuadMesh<MeshTraitsT>;
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using Ptr = shared_ptr<Self>;
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using ConstPtr = shared_ptr<const Self>;
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using VertexData = typename Base::VertexData;
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using HalfEdgeData = typename Base::HalfEdgeData;
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using EdgeData = typename Base::EdgeData;
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using FaceData = typename Base::FaceData;
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using IsManifold = typename Base::IsManifold;
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using MeshTag = typename Base::MeshTag;
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using HasVertexData = typename Base::HasVertexData;
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using HasHalfEdgeData = typename Base::HasHalfEdgeData;
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using HasEdgeData = typename Base::HasEdgeData;
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using HasFaceData = typename Base::HasFaceData;
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using VertexDataCloud = typename Base::VertexDataCloud;
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using HalfEdgeDataCloud = typename Base::HalfEdgeDataCloud;
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using EdgeDataCloud = typename Base::EdgeDataCloud;
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using FaceDataCloud = typename Base::FaceDataCloud;
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// Indices
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using VertexIndex = typename Base::VertexIndex;
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using HalfEdgeIndex = typename Base::HalfEdgeIndex;
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using EdgeIndex = typename Base::EdgeIndex;
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using FaceIndex = typename Base::FaceIndex;
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using VertexIndices = typename Base::VertexIndices;
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using HalfEdgeIndices = typename Base::HalfEdgeIndices;
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using EdgeIndices = typename Base::EdgeIndices;
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using FaceIndices = typename Base::FaceIndices;
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// Circulators
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using VertexAroundVertexCirculator = typename Base::VertexAroundVertexCirculator;
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using OutgoingHalfEdgeAroundVertexCirculator =
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typename Base::OutgoingHalfEdgeAroundVertexCirculator;
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using IncomingHalfEdgeAroundVertexCirculator =
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typename Base::IncomingHalfEdgeAroundVertexCirculator;
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using FaceAroundVertexCirculator = typename Base::FaceAroundVertexCirculator;
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using VertexAroundFaceCirculator = typename Base::VertexAroundFaceCirculator;
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using InnerHalfEdgeAroundFaceCirculator =
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typename Base::InnerHalfEdgeAroundFaceCirculator;
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using OuterHalfEdgeAroundFaceCirculator =
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typename Base::OuterHalfEdgeAroundFaceCirculator;
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using FaceAroundFaceCirculator = typename Base::FaceAroundFaceCirculator;
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/** \brief Constructor. */
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QuadMesh() : Base(), add_quad_(4) {}
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/** \brief The base method of addFace is hidden because of the overloads in this
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* class. */
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using Base::addFace;
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/** \brief Add a quad to the mesh. Data is only added if it is associated with the
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* elements. The last vertex is connected with the first one.
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* \param[in] idx_v_0 Index to the first vertex.
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* \param[in] idx_v_1 Index to the second vertex.
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* \param[in] idx_v_2 Index to the third vertex.
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* \param[in] idx_v_3 Index to the fourth vertex.
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* \param[in] face_data Data that is set for the face.
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* \param[in] half_edge_data Data that is set for all added half-edges.
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* \param[in] edge_data Data that is set for all added edges.
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* \return Index to the new face. Failure is signaled by returning an invalid face
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* index.
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* \warning The vertices must be valid and unique (each vertex may be contained
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* only once). Not complying with this requirement results in undefined behavior!
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*/
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inline FaceIndex
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addFace(const VertexIndex& idx_v_0,
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const VertexIndex& idx_v_1,
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const VertexIndex& idx_v_2,
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const VertexIndex& idx_v_3,
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const FaceData& face_data = FaceData(),
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const EdgeData& edge_data = EdgeData(),
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const HalfEdgeData& half_edge_data = HalfEdgeData())
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{
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add_quad_[0] = idx_v_0;
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add_quad_[1] = idx_v_1;
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add_quad_[2] = idx_v_2;
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add_quad_[3] = idx_v_3;
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return (this->addFaceImplBase(add_quad_, face_data, edge_data, half_edge_data));
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}
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private:
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// NOTE: Can't use the typedef of Base as a friend.
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friend class pcl::geometry::
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MeshBase<QuadMesh<MeshTraitsT>, MeshTraitsT, pcl::geometry::QuadMeshTag>;
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/** \brief addFace for the quad mesh. */
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inline FaceIndex
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addFaceImpl(const VertexIndices& vertices,
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const FaceData& face_data,
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const EdgeData& edge_data,
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const HalfEdgeData& half_edge_data)
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{
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if (vertices.size() == 4)
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return (this->addFaceImplBase(vertices, face_data, edge_data, half_edge_data));
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return (FaceIndex());
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}
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////////////////////////////////////////////////////////////////////////
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// Members
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////////////////////////////////////////////////////////////////////////
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/** \brief Storage for adding a quad. */
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VertexIndices add_quad_;
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public:
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PCL_MAKE_ALIGNED_OPERATOR_NEW
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};
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} // namespace geometry
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} // End namespace pcl
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