Point Cloud Library (PCL)
1.3.1
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00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2010, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of Willow Garage, Inc. nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 * 00034 * $Id$ 00035 * 00036 */ 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_