151 lines
5.5 KiB
C++
151 lines
5.5 KiB
C++
/*
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* Software License Agreement (BSD License)
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*
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* Copyright (c) 2010, Willow Garage, Inc.
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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 Willow Garage, Inc. 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/point_types.h>
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#include <pcl/surface/processing.h>
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namespace pcl
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{
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/** \brief The ear clipping triangulation algorithm.
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* The code is inspired by Flavien Brebion implementation, which is
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* in n^3 and does not handle holes.
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* \author Nicolas Burrus
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* \ingroup surface
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*/
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class PCL_EXPORTS EarClipping : public MeshProcessing
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{
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public:
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using Ptr = shared_ptr<EarClipping>;
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using ConstPtr = shared_ptr<const EarClipping>;
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using MeshProcessing::input_mesh_;
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using MeshProcessing::initCompute;
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/** \brief Empty constructor */
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EarClipping ()
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{
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};
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protected:
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/** \brief a Pointer to the point cloud data. */
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pcl::PointCloud<pcl::PointXYZ>::Ptr points_;
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/** \brief This method should get called before starting the actual computation. */
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bool
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initCompute () override;
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/** \brief The actual surface reconstruction method.
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* \param[out] output the output polygonal mesh
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*/
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void
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performProcessing (pcl::PolygonMesh &output) override;
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/** \brief Triangulate one polygon.
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* \param[in] vertices the set of vertices
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* \param[out] output the resultant polygonal mesh
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*/
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void
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triangulate (const Vertices& vertices, PolygonMesh& output);
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/** \brief Compute the signed area of a polygon.
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* \param[in] vertices the vertices representing the polygon
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*/
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float
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area (const Indices& vertices);
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/** \brief Compute the signed area of a polygon.
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* \param[in] vertices the vertices representing the polygon
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*/
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template <typename T = pcl::index_t, std::enable_if_t<!std::is_same<T, std::uint32_t>::value, pcl::index_t> = 0>
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PCL_DEPRECATED(1, 14, "This method creates a useless copy of the vertices vector. Use area method which accepts Indices instead")
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float
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area (const std::vector<std::uint32_t>& vertices)
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{
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return area(Indices (vertices.cbegin(), vertices.cend()));
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}
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/** \brief Check if the triangle (u,v,w) is an ear.
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* \param[in] u the first triangle vertex
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* \param[in] v the second triangle vertex
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* \param[in] w the third triangle vertex
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* \param[in] vertices a set of input vertices
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*/
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bool
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isEar (int u, int v, int w, const Indices& vertices);
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/** \brief Check if the triangle (u,v,w) is an ear.
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* \param[in] u the first triangle vertex
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* \param[in] v the second triangle vertex
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* \param[in] w the third triangle vertex
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* \param[in] vertices a set of input vertices
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*/
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template <typename T = pcl::index_t, std::enable_if_t<!std::is_same<T, std::uint32_t>::value, pcl::index_t> = 0>
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PCL_DEPRECATED(1, 14, "This method creates a useless copy of the vertices vector. Use isEar method which accepts Indices instead")
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bool
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isEar (int u, int v, int w, const std::vector<std::uint32_t>& vertices)
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{
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return isEar(u, v, w, Indices (vertices.cbegin(), vertices.cend()));
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}
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/** \brief Check if p is inside the triangle (u,v,w).
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* \param[in] u the first triangle vertex
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* \param[in] v the second triangle vertex
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* \param[in] w the third triangle vertex
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* \param[in] p the point to check
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*/
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bool
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isInsideTriangle (const Eigen::Vector3f& u,
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const Eigen::Vector3f& v,
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const Eigen::Vector3f& w,
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const Eigen::Vector3f& p);
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/** \brief Compute the cross product between 2D vectors.
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* \param[in] p1 the first 2D vector
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* \param[in] p2 the first 2D vector
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*/
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float
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crossProduct (const Eigen::Vector2f& p1, const Eigen::Vector2f& p2) const
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{
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return p1[0]*p2[1] - p1[1]*p2[0];
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}
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};
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}
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