Point Cloud Library (PCL)  1.3.1
ear_clipping.h
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00001 /*
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00037 
00038 #ifndef PCL_SURFACE_EAR_CLIPPING_H_
00039 #define PCL_SURFACE_EAR_CLIPPING_H_
00040 
00041 #include <pcl/point_types.h>
00042 #include <pcl/point_cloud.h>
00043 #include <pcl/ros/conversions.h>
00044 #include <pcl/PolygonMesh.h>
00045 
00046 namespace pcl
00047 {
00048 
00055   class PCL_EXPORTS EarClipping
00056   {
00057     public:
00061       void setInputPolygonMesh (pcl::PolygonMeshConstPtr polygon)
00062       {
00063         polygon_ = polygon;
00064         fromROSMsg (polygon->cloud, points_);
00065       }
00066 
00074       void triangulate (PolygonMesh& output)
00075       {
00076         output.polygons.clear ();
00077         output.cloud = polygon_->cloud;
00078         for (int i = 0; i < (int) polygon_->polygons.size (); ++i)
00079         {
00080           triangulate (polygon_->polygons[i], output);
00081         }
00082       }
00083 
00084     protected:
00086       void triangulate (const Vertices& vertices, PolygonMesh& output);
00087 
00089       float area (const std::vector<uint32_t>& vertices);
00090 
00092       bool isEar (int u, int v, int w, const std::vector<uint32_t>& vertices);
00093 
00095       bool isInsideTriangle (const PointXY& u, const PointXY& v, const PointXY& w,const PointXY& p);
00096 
00098       PointXY toPointXY (const PointXYZ& p) const { PointXY r; r.x = p.x; r.y = p.y; return r; }
00099 
00101       float crossProduct (const PointXY& p1, const PointXY& p2) const { return (p1.x*p2.y) - (p1.y*p2.x); }
00102 
00104       PointXY difference (const PointXY& p1, const PointXY& p2) const { PointXY r; r.x = p1.x - p2.x; r.y = p1.y - p2.y; return r; }
00105 
00106     private:
00107       PolygonMeshConstPtr polygon_;
00108       PointCloud<PointXYZ> points_;
00109 
00110     public:
00111       EIGEN_MAKE_ALIGNED_OPERATOR_NEW
00112   };
00113 
00114 }
00115 
00116 #endif  // #ifndef PCL_SURFACE_EAR_CLIPPING_H_
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