127 lines
6.4 KiB
C++
127 lines
6.4 KiB
C++
/*
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* Software License Agreement (BSD License)
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*
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* Copyright (c) 2012-, Open Perception, 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 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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*
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*
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*/
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#pragma once
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#include <pcl/pcl_exports.h>
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#include <pcl/point_cloud.h>
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#include <pcl/point_types.h>
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#include <pcl/surface/3rdparty/opennurbs/opennurbs.h>
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#include <pcl/PolygonMesh.h>
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#include <pcl/surface/on_nurbs/nurbs_data.h>
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namespace pcl
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{
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namespace on_nurbs
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{
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/** \brief Functions for NURBS surface triangulation, trimming and curve sampling. */
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class PCL_EXPORTS Triangulation
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{
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protected:
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/** \brief Create indices for triangulation. */
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static void
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createIndices (std::vector<pcl::Vertices> &vertices, unsigned vidx, unsigned segX, unsigned segY);
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/** \brief Create vertices (cloud) for triangulation. */
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static void
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createVertices (pcl::PointCloud<pcl::PointXYZ>::Ptr &cloud, float x0, float y0, float z0, float width,
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float height, unsigned segX, unsigned segY);
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public:
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static bool
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isInside(const ON_NurbsCurve &curve, const pcl::PointXYZ &v);
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// /** \brief Converts an NurbsObject to a pcl::PolygonMesh by sampling all NURBS according to the resolution specified.
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// * \param[in] object The NURBS object.
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// * \param[out] mesh The pcl::PolygonMesh
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// * \param[in] resolution mesh resolution (number of vertices along each of the two dimensions of the surface. */
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// static void
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// convertObject2PolygonMesh (const NurbsObject &object, PolygonMesh &mesh, unsigned resolution);
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/** \brief Converts an openNURBS NurbsSurface to a pcl::PolygonMesh by sampling the NURBS according to the resolution specified.
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* \param[in] nurbs The openNURBS surface.
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* \param[out] mesh The pcl::PolygonMesh
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* \param[in] resolution mesh resolution (number of vertices along each of the two dimensions of the surface. */
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static void
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convertSurface2PolygonMesh (const ON_NurbsSurface &nurbs, PolygonMesh &mesh, unsigned resolution);
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/** \brief Converts an openNURBS NurbsSurface to a pcl::PolygonMesh by sampling the NURBS according to the resolution specified.
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* \param[in] nurbs The nurbs surface.
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* \param[in] curve The nurbs curve for trimming (direction of curve decides if inside or outside is trimmed)
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* \param[out] mesh The pcl::PolygonMesh
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* \param[in] resolution mesh resolution (number of vertices along each of the two dimensions of the surface. */
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static void
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convertTrimmedSurface2PolygonMesh (const ON_NurbsSurface &nurbs, const ON_NurbsCurve &curve, PolygonMesh &mesh,
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unsigned resolution);
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static void
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convertTrimmedSurface2PolygonMesh (const ON_NurbsSurface &nurbs, const ON_NurbsCurve &curve, PolygonMesh &mesh,
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unsigned resolution, vector_vec3d &start, vector_vec3d &end);
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/** \brief Converts an openNURBS NurbsSurface to a point-cloud (vertices) and an vertex-index list
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* by sampling the NURBS according to the resolution specified.
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* \param[in] nurbs The openNURBS surface.
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* \param[out] cloud The actual vertices (point-cloud).
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* \param[out] vertices The vertex-indices for a polygon mesh.
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* \param[in] resolution mesh resolution (number of vertices along each of the two dimensions of the surface. */
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static void
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convertSurface2Vertices (const ON_NurbsSurface &nurbs, pcl::PointCloud<pcl::PointXYZ>::Ptr cloud,
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std::vector<pcl::Vertices> &vertices, unsigned resolution);
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/** \brief Converts an openNURBS NurbsCurve to a sequence of points 'cloud',
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* by ELEMENT-WISE sampling of the curve according to the resolution specified.
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* \param[in] nurbs The openNURBS surface.
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* \param[out] cloud The actual vertices (point-cloud).
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* \param[in] resolution number of sampling points within one NurbsCurve element. */
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static void
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convertCurve2PointCloud (const ON_NurbsCurve &nurbs, pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud,
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unsigned resolution);
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/** \brief Converts an openNURBS NurbsCurve, defined on an NurbsSurface to a sequence of points 'cloud',
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* by ELEMENT-WISE sampling of the curve according to the resolution specified.
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* \param[in] nurbs The openNURBS surface.
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* \param[out] cloud The actual vertices (point-cloud).
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* \param[in] resolution number of sampling points within one NurbsCurve element. */
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static void
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convertCurve2PointCloud (const ON_NurbsCurve &curve, const ON_NurbsSurface &surf,
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pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud, unsigned resolution);
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};
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}
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}
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