128 lines
4.4 KiB
C++
128 lines
4.4 KiB
C++
/*
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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/PolygonMesh.h>
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#include <pcl/conversions.h>
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namespace pcl {
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namespace geometry {
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/** \brief Convert a half-edge mesh to a face-vertex mesh.
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* \param[in] half_edge_mesh The input mesh.
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* \param[out] face_vertex_mesh The output mesh.
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* \author Martin Saelzle
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* \ingroup geometry
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*/
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template <class HalfEdgeMeshT>
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void
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toFaceVertexMesh(const HalfEdgeMeshT& half_edge_mesh,
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pcl::PolygonMesh& face_vertex_mesh)
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{
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using HalfEdgeMesh = HalfEdgeMeshT;
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using VAFC = typename HalfEdgeMesh::VertexAroundFaceCirculator;
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using FaceIndex = typename HalfEdgeMesh::FaceIndex;
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pcl::Vertices polygon;
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pcl::toPCLPointCloud2(half_edge_mesh.getVertexDataCloud(), face_vertex_mesh.cloud);
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face_vertex_mesh.polygons.reserve(half_edge_mesh.sizeFaces());
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for (std::size_t i = 0; i < half_edge_mesh.sizeFaces(); ++i) {
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VAFC circ = half_edge_mesh.getVertexAroundFaceCirculator(FaceIndex(i));
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const VAFC circ_end = circ;
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polygon.vertices.clear();
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do {
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polygon.vertices.push_back(circ.getTargetIndex().get());
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} while (++circ != circ_end);
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face_vertex_mesh.polygons.push_back(polygon);
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}
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}
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/** \brief Convert a face-vertex mesh to a half-edge mesh.
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* \param[in] face_vertex_mesh The input mesh.
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* \param[out] half_edge_mesh The output mesh. It must have data associated with the
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* vertices.
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* \return The number of faces that could NOT be added to the half-edge mesh.
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* \author Martin Saelzle
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* \ingroup geometry
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*/
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template <class HalfEdgeMeshT>
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int
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toHalfEdgeMesh(const pcl::PolygonMesh& face_vertex_mesh, HalfEdgeMeshT& half_edge_mesh)
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{
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using HalfEdgeMesh = HalfEdgeMeshT;
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using VertexDataCloud = typename HalfEdgeMesh::VertexDataCloud;
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using VertexIndices = typename HalfEdgeMesh::VertexIndices;
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static_assert(HalfEdgeMesh::HasVertexData::value,
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"Output mesh must have data associated with the vertices!");
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VertexDataCloud vertices;
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pcl::fromPCLPointCloud2(face_vertex_mesh.cloud, vertices);
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half_edge_mesh.reserveVertices(vertices.size());
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half_edge_mesh.reserveEdges(3 * face_vertex_mesh.polygons.size());
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half_edge_mesh.reserveFaces(face_vertex_mesh.polygons.size());
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for (const auto& vertex : vertices) {
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half_edge_mesh.addVertex(vertex);
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}
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assert(half_edge_mesh.sizeVertices() == vertices.size());
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int count_not_added = 0;
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VertexIndices vi;
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vi.reserve(3); // Minimum number (triangle)
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for (const auto& polygon : face_vertex_mesh.polygons) {
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vi.clear();
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for (const auto& vertex : polygon.vertices) {
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vi.emplace_back(vertex);
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}
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if (!half_edge_mesh.addFace(vi).isValid()) {
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++count_not_added;
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}
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}
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return (count_not_added);
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}
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} // End namespace geometry
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} // End namespace pcl
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