Point Cloud Library (PCL)  1.12.1-dev
ear_clipping.h
1 /*
2  * Software License Agreement (BSD License)
3  *
4  * Copyright (c) 2010, Willow Garage, Inc.
5  * All rights reserved.
6  *
7  * Redistribution and use in source and binary forms, with or without
8  * modification, are permitted provided that the following conditions
9  * are met:
10  *
11  * * Redistributions of source code must retain the above copyright
12  * notice, this list of conditions and the following disclaimer.
13  * * Redistributions in binary form must reproduce the above
14  * copyright notice, this list of conditions and the following
15  * disclaimer in the documentation and/or other materials provided
16  * with the distribution.
17  * * Neither the name of Willow Garage, Inc. nor the names of its
18  * contributors may be used to endorse or promote products derived
19  * from this software without specific prior written permission.
20  *
21  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
22  * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
23  * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
24  * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
25  * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
26  * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
27  * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
28  * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
29  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
30  * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
31  * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
32  * POSSIBILITY OF SUCH DAMAGE.
33  *
34  * $Id$
35  *
36  */
37 
38 #pragma once
39 
40 #include <pcl/point_types.h>
41 #include <pcl/surface/processing.h>
42 
43 namespace pcl
44 {
45 
46  /** \brief The ear clipping triangulation algorithm.
47  * The code is inspired by Flavien Brebion implementation, which is
48  * in n^3 and does not handle holes.
49  * \author Nicolas Burrus
50  * \ingroup surface
51  */
53  {
54  public:
55  using Ptr = shared_ptr<EarClipping>;
56  using ConstPtr = shared_ptr<const EarClipping>;
57 
60  /** \brief Empty constructor */
61  EarClipping () = default;
62 
63  protected:
64  /** \brief a Pointer to the point cloud data. */
66 
67  /** \brief This method should get called before starting the actual computation. */
68  bool
69  initCompute () override;
70 
71  /** \brief The actual surface reconstruction method.
72  * \param[out] output the output polygonal mesh
73  */
74  void
75  performProcessing (pcl::PolygonMesh &output) override;
76 
77  /** \brief Triangulate one polygon.
78  * \param[in] vertices the set of vertices
79  * \param[out] output the resultant polygonal mesh
80  */
81  void
82  triangulate (const Vertices& vertices, PolygonMesh& output);
83 
84  /** \brief Compute the signed area of a polygon.
85  * \param[in] vertices the vertices representing the polygon
86  */
87  float
88  area (const Indices& vertices);
89 
90  /** \brief Compute the signed area of a polygon.
91  * \param[in] vertices the vertices representing the polygon
92  */
93  template <typename T = pcl::index_t, std::enable_if_t<!std::is_same<T, std::uint32_t>::value, pcl::index_t> = 0>
94  PCL_DEPRECATED(1, 14, "This method creates a useless copy of the vertices vector. Use area method which accepts Indices instead")
95  float
96  area (const std::vector<std::uint32_t>& vertices)
97  {
98  return area(Indices (vertices.cbegin(), vertices.cend()));
99  }
100 
101  /** \brief Check if the triangle (u,v,w) is an ear.
102  * \param[in] u the first triangle vertex
103  * \param[in] v the second triangle vertex
104  * \param[in] w the third triangle vertex
105  * \param[in] vertices a set of input vertices
106  */
107  bool
108  isEar (int u, int v, int w, const Indices& vertices);
109 
110  /** \brief Check if the triangle (u,v,w) is an ear.
111  * \param[in] u the first triangle vertex
112  * \param[in] v the second triangle vertex
113  * \param[in] w the third triangle vertex
114  * \param[in] vertices a set of input vertices
115  */
116  template <typename T = pcl::index_t, std::enable_if_t<!std::is_same<T, std::uint32_t>::value, pcl::index_t> = 0>
117  PCL_DEPRECATED(1, 14, "This method creates a useless copy of the vertices vector. Use isEar method which accepts Indices instead")
118  bool
119  isEar (int u, int v, int w, const std::vector<std::uint32_t>& vertices)
120  {
121  return isEar(u, v, w, Indices (vertices.cbegin(), vertices.cend()));
122  }
123 
124  /** \brief Check if p is inside the triangle (u,v,w).
125  * \param[in] u the first triangle vertex
126  * \param[in] v the second triangle vertex
127  * \param[in] w the third triangle vertex
128  * \param[in] p the point to check
129  */
130  bool
131  isInsideTriangle (const Eigen::Vector3f& u,
132  const Eigen::Vector3f& v,
133  const Eigen::Vector3f& w,
134  const Eigen::Vector3f& p);
135 
136  /** \brief Compute the cross product between 2D vectors.
137  * \param[in] p1 the first 2D vector
138  * \param[in] p2 the first 2D vector
139  */
140  float
141  crossProduct (const Eigen::Vector2f& p1, const Eigen::Vector2f& p2) const
142  {
143  return p1[0]*p2[1] - p1[1]*p2[0];
144  }
145 
146  };
147 
148 }
The ear clipping triangulation algorithm.
Definition: ear_clipping.h:53
float area(const Indices &vertices)
Compute the signed area of a polygon.
void triangulate(const Vertices &vertices, PolygonMesh &output)
Triangulate one polygon.
void performProcessing(pcl::PolygonMesh &output) override
The actual surface reconstruction method.
bool initCompute() override
This method should get called before starting the actual computation.
shared_ptr< EarClipping > Ptr
Definition: ear_clipping.h:55
bool isInsideTriangle(const Eigen::Vector3f &u, const Eigen::Vector3f &v, const Eigen::Vector3f &w, const Eigen::Vector3f &p)
Check if p is inside the triangle (u,v,w).
pcl::PointCloud< pcl::PointXYZ >::Ptr points_
a Pointer to the point cloud data.
Definition: ear_clipping.h:65
bool isEar(int u, int v, int w, const Indices &vertices)
Check if the triangle (u,v,w) is an ear.
shared_ptr< const EarClipping > ConstPtr
Definition: ear_clipping.h:56
float crossProduct(const Eigen::Vector2f &p1, const Eigen::Vector2f &p2) const
Compute the cross product between 2D vectors.
Definition: ear_clipping.h:141
EarClipping()=default
Empty constructor.
MeshProcessing represents the base class for mesh processing algorithms.
Definition: processing.h:95
virtual bool initCompute()
Initialize computation.
pcl::PolygonMeshConstPtr input_mesh_
Input polygonal mesh.
Definition: processing.h:147
shared_ptr< PointCloud< PointT > > Ptr
Definition: point_cloud.h:413
Defines all the PCL implemented PointT point type structures.
detail::int_type_t< detail::index_type_size, detail::index_type_signed > index_t
Type used for an index in PCL.
Definition: types.h:112
IndicesAllocator<> Indices
Type used for indices in PCL.
Definition: types.h:133
#define PCL_EXPORTS
Definition: pcl_macros.h:323
#define PCL_DEPRECATED(Major, Minor, Message)
macro for compatibility across compilers and help remove old deprecated items for the Major....
Definition: pcl_macros.h:156
Describes a set of vertices in a polygon mesh, by basically storing an array of indices.
Definition: Vertices.h:15