43 #include <pcl/geometry/mesh_circulators.h>
44 #include <pcl/geometry/mesh_elements.h>
45 #include <pcl/geometry/mesh_indices.h>
46 #include <pcl/geometry/mesh_traits.h>
49 #include <pcl/point_cloud.h>
51 #include <type_traits>
58 #ifdef PCL_GEOMETRY_MESH_BASE_TEST_DELETE_FACE_MANIFOLD_2
61 bool g_pcl_geometry_mesh_base_test_delete_face_manifold_2_success;
72 template <
class MeshT>
94 template <
class DerivedT,
class MeshTraitsT,
class MeshTagT>
98 using Ptr = shared_ptr<Self>;
111 static_assert(std::is_convertible<IsManifold, bool>::value,
112 "MeshTraitsT::IsManifold is not convertible to bool");
118 std::integral_constant<bool,
119 !std::is_same<VertexData, pcl::geometry::NoData>::value>;
121 std::integral_constant<bool,
122 !std::is_same<HalfEdgeData, pcl::geometry::NoData>::value>;
124 std::integral_constant<bool,
125 !std::is_same<EdgeData, pcl::geometry::NoData>::value>;
127 std::integral_constant<bool,
128 !std::is_same<FaceData, pcl::geometry::NoData>::value>;
165 : vertex_data_cloud_()
166 , half_edge_data_cloud_()
184 vertices_.push_back(
Vertex());
209 return (
static_cast<Derived*
>(
this)->addFaceImpl(
210 vertices, face_data, edge_data, half_edge_data));
220 assert(this->
isValid(idx_vertex));
224 delete_faces_vertex_.clear();
232 }
while (++circ != circ_end);
234 for (
const auto& delete_me : delete_faces_vertex_) {
270 assert(this->
isValid(idx_edge));
284 assert(this->
isValid(idx_face));
300 this->remove<Vertices, VertexDataCloud, VertexIndices, HasVertexData>(
301 vertices_, vertex_data_cloud_);
303 this->remove<HalfEdges, HalfEdgeDataCloud, HalfEdgeIndices, HasHalfEdgeData>(
304 half_edges_, half_edge_data_cloud_);
306 this->remove<Faces, FaceDataCloud, FaceIndices, HasFaceData>(faces_,
310 if (HasEdgeData::value) {
311 auto it_ed_old = edge_data_cloud_.
begin();
312 auto it_ed_new = edge_data_cloud_.
begin();
314 for (
auto it_ind = new_half_edge_indices.cbegin(),
315 it_ind_end = new_half_edge_indices.cend();
316 it_ind != it_ind_end;
317 it_ind += 2, ++it_ed_old) {
318 if (it_ind->isValid()) {
319 *it_ed_new++ = *it_ed_old;
326 for (
auto& vertex : vertices_) {
327 if (vertex.idx_outgoing_half_edge_.isValid()) {
328 vertex.idx_outgoing_half_edge_ =
329 new_half_edge_indices[vertex.idx_outgoing_half_edge_.get()];
333 for (
auto& half_edge : half_edges_) {
334 half_edge.idx_terminating_vertex_ =
335 new_vertex_indices[half_edge.idx_terminating_vertex_.get()];
336 half_edge.idx_next_half_edge_ =
337 new_half_edge_indices[half_edge.idx_next_half_edge_.get()];
338 half_edge.idx_prev_half_edge_ =
339 new_half_edge_indices[half_edge.idx_prev_half_edge_.get()];
340 if (half_edge.idx_face_.isValid()) {
341 half_edge.idx_face_ = new_face_indices[half_edge.idx_face_.get()];
345 for (
auto& face : faces_) {
346 face.idx_inner_half_edge_ =
347 new_half_edge_indices[face.idx_inner_half_edge_.get()];
359 assert(this->
isValid(idx_vertex));
360 return (this->
getVertex(idx_vertex).idx_outgoing_half_edge_);
367 assert(this->
isValid(idx_vertex));
379 assert(this->
isValid(idx_half_edge));
380 return (this->
getHalfEdge(idx_half_edge).idx_terminating_vertex_);
387 assert(this->
isValid(idx_half_edge));
396 assert(this->
isValid(idx_half_edge));
399 : idx_half_edge.
get() + 1));
406 assert(this->
isValid(idx_half_edge));
407 return (this->
getHalfEdge(idx_half_edge).idx_next_half_edge_);
414 assert(this->
isValid(idx_half_edge));
415 return (this->
getHalfEdge(idx_half_edge).idx_prev_half_edge_);
422 assert(this->
isValid(idx_half_edge));
423 return (this->
getHalfEdge(idx_half_edge).idx_face_);
430 assert(this->
isValid(idx_half_edge));
442 assert(this->
isValid(idx_face));
443 return (this->
getFace(idx_face).idx_inner_half_edge_);
450 assert(this->
isValid(idx_face));
462 assert(this->
isValid(idx_vertex));
470 assert(this->
isValid(idx_outgoing_half_edge));
478 assert(this->
isValid(idx_vertex));
487 assert(this->
isValid(idx_outgoing_half_edge));
495 assert(this->
isValid(idx_vertex));
504 assert(this->
isValid(idx_incoming_half_edge));
512 assert(this->
isValid(idx_vertex));
520 assert(this->
isValid(idx_outgoing_half_edge));
528 assert(this->
isValid(idx_face));
536 assert(this->
isValid(idx_inner_half_edge));
544 assert(this->
isValid(idx_face));
552 assert(this->
isValid(idx_inner_half_edge));
560 assert(this->
isValid(idx_face));
568 assert(this->
isValid(idx_inner_half_edge));
576 assert(this->
isValid(idx_face));
584 assert(this->
isValid(idx_inner_half_edge));
603 for (std::size_t i = 0; i < this->
sizeVertices(); ++i) {
626 for (std::size_t i = 0; i < this->
sizeFaces(); ++i) {
643 return (idx_vertex >=
static_cast<VertexIndex>(0) &&
644 idx_vertex <
static_cast<VertexIndex>(vertices_.size()));
659 return (idx_edge >=
static_cast<EdgeIndex>(0) &&
660 idx_edge <
static_cast<EdgeIndex>(half_edges_.size() / 2));
667 return (idx_face >=
static_cast<FaceIndex>(0) &&
668 idx_face <
static_cast<FaceIndex>(faces_.size()));
679 assert(this->
isValid(idx_vertex));
696 assert(this->
isValid(idx_edge));
705 assert(this->
isValid(idx_face));
717 assert(this->
isValid(idx_vertex));
730 assert(this->
isValid(idx_vertex));
749 assert(this->
isValid(idx_edge));
761 template <
bool CheckVerticesT>
765 assert(this->
isValid(idx_face));
766 return (this->
isBoundary(idx_face, std::integral_constant<bool, CheckVerticesT>()));
774 assert(this->
isValid(idx_face));
775 return (this->
isBoundary(idx_face, std::true_type()));
786 assert(this->
isValid(idx_vertex));
807 return (vertices_.size());
814 assert(half_edges_.size() % 2 == 0);
815 return (half_edges_.size());
822 assert(half_edges_.size() % 2 == 0);
823 return (half_edges_.size() / 2);
830 return (faces_.size());
848 return (vertices_.empty());
855 return (half_edges_.empty());
862 return (faces_.empty());
873 vertices_.reserve(n);
882 half_edges_.reserve(2 * n);
903 vertices_.resize(n,
Vertex());
913 half_edges_.resize(2 * n,
HalfEdge());
922 faces_.resize(n,
Face());
954 return (vertex_data_cloud_);
961 return (vertex_data_cloud_);
972 if (vertex_data_cloud.
size() == vertex_data_cloud_.
size()) {
973 vertex_data_cloud_ = vertex_data_cloud;
989 return (half_edge_data_cloud_);
996 return (half_edge_data_cloud_);
1007 if (half_edge_data_cloud.
size() == half_edge_data_cloud_.
size()) {
1008 half_edge_data_cloud_ = half_edge_data_cloud;
1024 return (edge_data_cloud_);
1031 return (edge_data_cloud_);
1041 if (edge_data_cloud.
size() == edge_data_cloud_.
size()) {
1042 edge_data_cloud_ = edge_data_cloud;
1058 return (face_data_cloud_);
1065 return (face_data_cloud_);
1075 if (face_data_cloud.
size() == face_data_cloud_.
size()) {
1076 face_data_cloud_ = face_data_cloud;
1092 if (HasVertexData::value) {
1093 assert(&vertex_data >= &vertex_data_cloud_.
front() &&
1094 &vertex_data <= &vertex_data_cloud_.
back());
1104 if (HasHalfEdgeData::value) {
1105 assert(&half_edge_data >= &half_edge_data_cloud_.
front() &&
1106 &half_edge_data <= &half_edge_data_cloud_.
back());
1117 if (HasEdgeData::value) {
1118 assert(&edge_data >= &edge_data_cloud_.
front() &&
1119 &edge_data <= &edge_data_cloud_.
back());
1129 if (HasFaceData::value) {
1130 assert(&face_data >= &face_data_cloud_.
front() &&
1131 &face_data <= &face_data_cloud_.
back());
1166 const int n =
static_cast<int>(vertices.size());
1171 inner_he_.resize(n);
1174 make_adjacent_.resize(n);
1175 for (
int i = 0; i < n; ++i) {
1177 vertices[(i + 1) % n],
1184 for (
int i = 0; i < n; ++i) {
1185 int j = (i + 1) % n;
1199 if (!IsManifold::value) {
1200 for (
int i = 0; i < n; ++i) {
1201 if (make_adjacent_[i]) {
1202 this->
makeAdjacent(inner_he_[i], inner_he_[(i + 1) % n], free_he_[i]);
1208 for (
int i = 0; i < n; ++i) {
1211 vertices[i], vertices[(i + 1) % n], half_edge_data, edge_data);
1216 for (
int i = 0; i < n; ++i) {
1217 int j = (i + 1) % n;
1218 if (is_new_[i] && is_new_[j])
1220 else if (is_new_[i] && !is_new_[j])
1221 this->
connectNewOld(inner_he_[i], inner_he_[j], vertices[j]);
1222 else if (!is_new_[i] && is_new_[j])
1223 this->
connectOldNew(inner_he_[i], inner_he_[j], vertices[j]);
1250 half_edges_.push_back(
HalfEdge(idx_v_b));
1251 half_edges_.push_back(
HalfEdge(idx_v_a));
1257 return (
static_cast<HalfEdgeIndex>(half_edges_.size() - 2));
1276 std::vector<bool>::reference is_new_ab,
1277 std::true_type )
const
1297 std::vector<bool>::reference is_new_ab,
1298 std::false_type )
const
1319 }
while (++circ != circ_end);
1328 const bool is_new_ab,
1329 const bool is_new_bc,
1330 const bool is_isolated_b,
1331 std::vector<bool>::reference ,
1333 std::true_type )
const
1335 return !(is_new_ab && is_new_bc && !is_isolated_b);
1350 const bool is_new_ab,
1351 const bool is_new_bc,
1353 std::vector<bool>::reference make_adjacent_ab_bc,
1355 std::false_type )
const
1357 if (is_new_ab || is_new_bc) {
1358 make_adjacent_ab_bc =
false;
1363 make_adjacent_ab_bc =
false;
1367 make_adjacent_ab_bc =
true;
1420 faces_.push_back(
Face(inner_he.back()));
1425 for (
const auto& idx_half_edge : inner_he) {
1464 this->
connectNewNew(idx_he_ab, idx_he_bc, idx_v_b, std::true_type());
1530 if (idx_he_b_out == idx_he_bc)
1536 while (++circ != circ_end) {
1550 template <
class DataT>
1558 template <
class DataT>
1575 assert(this->
isValid(idx_face));
1576 delete_faces_face_.clear();
1577 delete_faces_face_.push_back(idx_face);
1579 while (!delete_faces_face_.empty()) {
1580 const FaceIndex idx_face_cur = delete_faces_face_.back();
1581 delete_faces_face_.pop_back();
1585 this->
deleteFace(idx_face_cur, std::false_type());
1593 assert(this->
isValid(idx_face));
1599 is_boundary_.clear();
1605 is_boundary_.push_back(
1607 }
while (++circ != circ_end);
1608 assert(inner_he_.size() >= 3);
1610 const int n =
static_cast<int>(inner_he_.size());
1613 if (IsManifold::value) {
1614 for (
int i = 0; i < n; ++i) {
1616 this->
reconnect(inner_he_[i], inner_he_[j], is_boundary_[i], is_boundary_[j]);
1618 for (
int i = 0; i < n; ++i) {
1623 for (
int i = 0; i < n; ++i) {
1625 this->
reconnect(inner_he_[i], inner_he_[j], is_boundary_[i], is_boundary_[j]);
1642 const bool is_boundary_ba,
1643 const bool is_boundary_cb)
1649 if (is_boundary_ba && is_boundary_cb)
1653 if (idx_he_cb_next == idx_he_ba)
1665 else if (is_boundary_ba && !is_boundary_cb)
1673 else if (!is_boundary_ba && is_boundary_cb)
1699 delete_faces_face_.push_back(this->
getFaceIndex((circ++).getTargetIndex()));
1701 #ifdef PCL_GEOMETRY_MESH_BASE_TEST_DELETE_FACE_MANIFOLD_2
1709 pcl::geometry::g_pcl_geometry_mesh_base_test_delete_face_manifold_2_success =
1741 assert(this->
isValid(idx_vertex));
1749 assert(this->
isValid(idx_he));
1757 assert(this->
isValid(idx_edge));
1766 assert(this->
isValid(idx_face));
1787 template <
class ElementContainerT,
1788 class DataContainerT,
1789 class IndexContainerT,
1792 remove(ElementContainerT& elements, DataContainerT& data_cloud)
1794 using Index =
typename IndexContainerT::value_type;
1795 using Element =
typename ElementContainerT::value_type;
1797 if (HasDataT::value)
1798 assert(elements.size() == data_cloud.size());
1800 assert(data_cloud.empty());
1802 IndexContainerT new_indices(elements.size(),
1803 typename IndexContainerT::value_type());
1804 Index ind_old(0), ind_new(0);
1806 typename ElementContainerT::const_iterator it_e_old = elements.begin();
1807 auto it_e_new = elements.begin();
1809 typename DataContainerT::const_iterator it_d_old = data_cloud.begin();
1810 auto it_d_new = data_cloud.begin();
1812 auto it_ind_new = new_indices.begin();
1813 typename IndexContainerT::const_iterator it_ind_new_end = new_indices.end();
1815 while (it_ind_new != it_ind_new_end) {
1817 *it_ind_new = ind_new++;
1820 *it_e_new++ = *it_e_old;
1821 this->
assignIf(it_d_old, it_d_new, HasDataT());
1830 elements.resize(ind_new.get(), Element());
1831 if (HasDataT::value) {
1832 data_cloud.resize(ind_new.get());
1834 else if (it_d_old != data_cloud.begin() || it_d_new != data_cloud.begin()) {
1835 std::cerr <<
"TODO: Bug in MeshBase::remove!\n";
1840 return (new_indices);
1844 template <
class IteratorT>
1852 template <
class IteratorT>
1858 template <
class ConstIteratorT,
class IteratorT>
1862 std::true_type )
const
1868 template <
class ConstIteratorT,
class IteratorT>
1872 std::false_type )
const
1884 assert(this->
isValid(idx_vertex));
1885 this->
getVertex(idx_vertex).idx_outgoing_half_edge_ = idx_outgoing_half_edge;
1893 assert(this->
isValid(idx_half_edge));
1894 this->
getHalfEdge(idx_half_edge).idx_terminating_vertex_ = idx_terminating_vertex;
1902 assert(this->
isValid(idx_half_edge));
1903 this->
getHalfEdge(idx_half_edge).idx_next_half_edge_ = idx_next_half_edge;
1911 assert(this->
isValid(idx_half_edge));
1912 this->
getHalfEdge(idx_half_edge).idx_prev_half_edge_ = idx_prev_half_edge;
1919 assert(this->
isValid(idx_half_edge));
1920 this->
getHalfEdge(idx_half_edge).idx_face_ = idx_face;
1928 assert(this->
isValid(idx_face));
1929 this->
getFace(idx_face).idx_inner_half_edge_ = idx_inner_half_edge;
1947 }
while (++circ != circ_end);
1964 }
while (++circ != circ_end);
1984 if (!this->
isBoundary((circ++).getTargetIndex()))
1989 }
while (++circ != circ_end);
2005 for (std::size_t i = 0; i < this->
sizeVertices(); ++i) {
2017 template <
class DataCloudT>
2019 reserveData(DataCloudT& cloud,
const std::size_t n, std::true_type )
const
2025 template <
class DataCloudT>
2029 std::false_type )
const
2033 template <
class DataCloudT>
2036 const std::size_t n,
2037 const typename DataCloudT::value_type& data,
2038 std::true_type )
const
2040 data_cloud.resize(n, data);
2044 template <
class DataCloudT>
2048 const typename DataCloudT::value_type& ,
2049 std::false_type )
const
2053 template <
class DataCloudT>
2061 template <
class DataCloudT>
2074 assert(this->
isValid(idx_vertex));
2075 return (vertices_[idx_vertex.
get()]);
2082 assert(this->
isValid(idx_vertex));
2083 return (vertices_[idx_vertex.
get()]);
2090 assert(this->
isValid(idx_vertex));
2091 vertices_[idx_vertex.
get()] = vertex;
2102 assert(this->
isValid(idx_he));
2103 return (half_edges_[idx_he.
get()]);
2110 assert(this->
isValid(idx_he));
2111 return (half_edges_[idx_he.
get()]);
2118 assert(this->
isValid(idx_he));
2119 half_edges_[idx_he.
get()] = half_edge;
2130 assert(this->
isValid(idx_face));
2131 return (faces_[idx_face.
get()]);
2138 assert(this->
isValid(idx_face));
2139 return (faces_[idx_face.
get()]);
2146 assert(this->
isValid(idx_face));
2147 faces_[idx_face.
get()] = face;
2185 std::vector<bool> is_new_;
2188 std::vector<bool> make_adjacent_;
2191 std::vector<bool> is_boundary_;
2200 template <
class MeshT>
void push_back(const PointT &pt)
Insert a new point in the cloud, at the end of the container.
const PointT & front() const
void resize(std::size_t count)
Resizes the container to contain count elements.
const PointT & back() const
iterator begin() noexcept
void invalidate()
Invalidate the index.
bool isValid() const
Returns true if the index is valid.
int get() const
Get the index.
Circulates clockwise around a face and returns an index to the face of the outer half-edge (the targe...
Circulates counter-clockwise around a vertex and returns an index to the face of the outgoing half-ed...
FaceIndex getTargetIndex() const
Get the index to the target face.
A face is a closed loop of edges.
An edge is a connection between two vertices.
Circulates counter-clockwise around a vertex and returns an index to the incoming half-edge (the targ...
HalfEdgeIndex getTargetIndex() const
Get the index to the incoming half-edge.
Circulates clockwise around a face and returns an index to the inner half-edge (the target).
HalfEdgeIndex getTargetIndex() const
Get the index to the inner half-edge.
Base class for the half-edge mesh.
void setOutgoingHalfEdgeIndex(const VertexIndex &idx_vertex, const HalfEdgeIndex &idx_outgoing_half_edge)
Set the outgoing half-edge index to a given vertex.
HalfEdgeIndex getNextHalfEdgeIndex(const HalfEdgeIndex &idx_half_edge) const
Get the next half-edge index to a given half-edge.
std::vector< Face > Faces
shared_ptr< const Self > ConstPtr
bool isDeleted(const FaceIndex &idx_face) const
Check if the given face is marked as deleted.
void setNextHalfEdgeIndex(const HalfEdgeIndex &idx_half_edge, const HalfEdgeIndex &idx_next_half_edge)
Set the next half_edge index to a given half-edge.
bool emptyVertices() const
Check if the vertices are empty.
FaceDataCloud getFaceDataCloud() const
Get the stored face data.
std::integral_constant< bool, !std::is_same< VertexData, pcl::geometry::NoData >::value > HasVertexData
bool isBoundary(const VertexIndex &idx_vertex) const
Check if the given vertex lies on the boundary.
VertexAroundVertexCirculator getVertexAroundVertexCirculator(const HalfEdgeIndex &idx_outgoing_half_edge) const
pcl::geometry::IncomingHalfEdgeAroundVertexCirculator< const Self > IncomingHalfEdgeAroundVertexCirculator
InnerHalfEdgeAroundFaceCirculator getInnerHalfEdgeAroundFaceCirculator(const HalfEdgeIndex &idx_inner_half_edge) const
bool isBoundary(const FaceIndex &idx_face, std::true_type) const
Check if any vertex of the face lies on the boundary.
void deleteEdge(const EdgeIndex &idx_edge)
Mark the given edge (both half-edges) and the associated faces as deleted.
VertexAroundVertexCirculator getVertexAroundVertexCirculator(const VertexIndex &idx_vertex) const
pcl::geometry::OuterHalfEdgeAroundFaceCirculator< const Self > OuterHalfEdgeAroundFaceCirculator
void deleteFace(const FaceIndex &idx_face)
Mark the given face as deleted.
std::vector< Vertex > Vertices
EdgeIndex getEdgeIndex(const EdgeData &edge_data) const
Get the index associated to the given edge data.
HalfEdgeIndex getOppositeHalfEdgeIndex(const HalfEdgeIndex &idx_half_edge) const
Get the opposite half-edge index to a given half-edge.
HalfEdgeIndex getOuterHalfEdgeIndex(const FaceIndex &idx_face) const
Get the outer half-edge inex to a given face.
std::vector< EdgeIndex > EdgeIndices
bool emptyEdges() const
Check if the edges are empty.
VertexAroundFaceCirculator getVertexAroundFaceCirculator(const HalfEdgeIndex &idx_inner_half_edge) const
void setHalfEdge(const HalfEdgeIndex &idx_he, const HalfEdge &half_edge)
Set the half-edge at the given index.
FaceIndex connectFace(const HalfEdgeIndices &inner_he, const FaceData &face_data)
Add a face to the mesh and connect it to the half-edges.
HalfEdgeIndex getHalfEdgeIndex(const HalfEdgeData &half_edge_data) const
Get the index associated to the given half-edge data.
void resizeData(DataCloudT &data_cloud, const std::size_t n, const typename DataCloudT::value_type &data, std::true_type) const
Resize the mesh data.
HalfEdgeDataCloud getHalfEdgeDataCloud() const
Get the stored half-edge data.
pcl::geometry::Vertex Vertex
bool isBoundary(const HalfEdgeIndex &idx_he) const
Check if the given half-edge lies on the boundary.
IncomingHalfEdgeAroundVertexCirculator getIncomingHalfEdgeAroundVertexCirculator(const VertexIndex &idx_vertex) const
std::size_t sizeVertices() const
Get the number of the vertices.
void reconnect(const HalfEdgeIndex &idx_he_ab, const HalfEdgeIndex &idx_he_bc, const bool is_boundary_ba, const bool is_boundary_cb)
Deconnect the input half-edges from the mesh and adjust the indices of the connected half-edges.
void resizeVertices(const std::size_t n, const VertexData &data=VertexData())
Resize the the vertices to n elements.
bool setEdgeDataCloud(const EdgeDataCloud &edge_data_cloud)
Change the stored edge data.
bool checkTopology1(const VertexIndex &idx_v_a, const VertexIndex &idx_v_b, HalfEdgeIndex &idx_he_ab, std::vector< bool >::reference is_new_ab, std::true_type) const
Check if the edge between the two vertices can be added.
std::size_t sizeEdges() const
Get the number of the edges.
pcl::geometry::FaceIndex FaceIndex
InnerHalfEdgeAroundFaceCirculator getInnerHalfEdgeAroundFaceCirculator(const FaceIndex &idx_face) const
typename MeshTraitsT::EdgeData EdgeData
bool emptyFaces() const
Check if the faces are empty.
bool empty() const
Check if the mesh is empty.
IncomingHalfEdgeAroundVertexCirculator getIncomingHalfEdgeAroundVertexCirculator(const HalfEdgeIndex &idx_incoming_half_edge) const
void deleteVertex(const VertexIndex &idx_vertex)
Mark the given vertex and all connected half-edges and faces as deleted.
std::vector< FaceIndex > FaceIndices
void reserveData(DataCloudT &, const std::size_t, std::false_type) const
Does nothing.
void connectOldNew(const HalfEdgeIndex &idx_he_ab, const HalfEdgeIndex &idx_he_bc, const VertexIndex &idx_v_b)
The second half-edge is new.
bool setHalfEdgeDataCloud(const HalfEdgeDataCloud &half_edge_data_cloud)
Change the stored half-edge data.
VertexIndex getOriginatingVertexIndex(const HalfEdgeIndex &idx_half_edge) const
Get the originating vertex index to a given half-edge.
std::size_t sizeFaces() const
Get the number of the faces.
void deleteEdge(const HalfEdgeIndex &idx_he)
Mark the given half-edge, the opposite half-edge and the associated faces as deleted.
void resizeData(DataCloudT &, const std::size_t, const typename DataCloudT::value_type &, std::false_type) const
Does nothing.
typename HalfEdges::iterator HalfEdgeIterator
typename MeshTraitsT::HalfEdgeData HalfEdgeData
void markDeleted(const FaceIndex &idx_face)
Mark the given face as deleted.
OutgoingHalfEdgeAroundVertexCirculator getOutgoingHalfEdgeAroundVertexCirculator(const HalfEdgeIndex &idx_outgoing_half_edge) const
HalfEdgeIndex getInnerHalfEdgeIndex(const FaceIndex &idx_face) const
Get the inner half-edge index to a given face.
void addData(pcl::PointCloud< DataT > &, const DataT &, std::false_type)
Does nothing.
pcl::PointCloud< VertexData > VertexDataCloud
void reconnectNBNB(const HalfEdgeIndex &idx_he_bc, const HalfEdgeIndex &idx_he_cb, const VertexIndex &idx_v_b, std::true_type)
Both edges are not on the boundary.
HalfEdgeIndex getPrevHalfEdgeIndex(const HalfEdgeIndex &idx_half_edge) const
Get the previous half-edge index to a given half-edge.
bool setFaceDataCloud(const FaceDataCloud &face_data_cloud)
Change the stored face data.
OuterHalfEdgeAroundFaceCirculator getOuterHalfEdgeAroundFaceCirculator(const HalfEdgeIndex &idx_inner_half_edge) const
void clearData(DataCloudT &, std::false_type) const
Does nothing.
Vertex getVertex(const VertexIndex &idx_vertex) const
Get the vertex for the given index.
pcl::geometry::FaceAroundFaceCirculator< const Self > FaceAroundFaceCirculator
FaceIndex addFaceImplBase(const VertexIndices &vertices, const FaceData &face_data, const EdgeData &edge_data, const HalfEdgeData &half_edge_data)
General implementation of addFace.
typename Faces::const_iterator FaceConstIterator
typename MeshTraitsT::VertexData VertexData
void markDeleted(const VertexIndex &idx_vertex)
Mark the given vertex as deleted.
bool setVertexDataCloud(const VertexDataCloud &vertex_data_cloud)
Change the stored vertex data.
pcl::geometry::FaceAroundVertexCirculator< const Self > FaceAroundVertexCirculator
std::vector< HalfEdgeIndex > HalfEdgeIndices
void reserveFaces(const std::size_t n)
Reserve storage space for n faces.
EdgeDataCloud & getEdgeDataCloud()
Get access to the stored edge data.
bool checkTopology2(const HalfEdgeIndex &, const HalfEdgeIndex &, const bool is_new_ab, const bool is_new_bc, const bool is_isolated_b, std::vector< bool >::reference, HalfEdgeIndex &, std::true_type) const
Check if the face may be added (mesh does not become non-manifold).
bool isValid(const HalfEdgeIndex &idx_he) const
Check if the given half-edge index is a valid index into the mesh.
void markDeleted(const HalfEdgeIndex &idx_he)
Mark the given half-edge as deleted.
std::size_t sizeHalfEdges() const
Get the number of the half-edges.
std::integral_constant< bool, !std::is_same< EdgeData, pcl::geometry::NoData >::value > HasEdgeData
void resizeEdges(const std::size_t n, const EdgeData &edge_data=EdgeData(), const HalfEdgeData he_data=HalfEdgeData())
Resize the edges to n elements (half-edges will hold 2*n elements).
void setVertex(const VertexIndex &idx_vertex, const Vertex &vertex)
Set the vertex at the given index.
OutgoingHalfEdgeAroundVertexCirculator getOutgoingHalfEdgeAroundVertexCirculator(const VertexIndex &idx_vertex) const
std::integral_constant< bool, !std::is_same< FaceData, pcl::geometry::NoData >::value > HasFaceData
VertexIndex getVertexIndex(const VertexData &vertex_data) const
Get the index associated to the given vertex data.
void assignIf(const ConstIteratorT, IteratorT, std::false_type) const
Does nothing.
void addData(pcl::PointCloud< DataT > &cloud, const DataT &data, std::true_type)
Add mesh data.
pcl::PointCloud< FaceData > FaceDataCloud
bool isManifold(std::true_type) const
Always manifold.
bool isValid(const EdgeIndex &idx_edge) const
Check if the given edge index is a valid index into the mesh.
void connectNewNew(const HalfEdgeIndex &idx_he_ab, const HalfEdgeIndex &idx_he_bc, const VertexIndex &idx_v_b, std::false_type)
Both half-edges are new (non-manifold version).
VertexAroundFaceCirculator getVertexAroundFaceCirculator(const FaceIndex &idx_face) const
pcl::geometry::VertexIndex VertexIndex
void setTerminatingVertexIndex(const HalfEdgeIndex &idx_half_edge, const VertexIndex &idx_terminating_vertex)
Set the terminating vertex index to a given half-edge.
bool isValid(const FaceIndex &idx_face) const
Check if the given face index is a valid index into the mesh.
void reserveData(DataCloudT &cloud, const std::size_t n, std::true_type) const
Reserve storage space for the mesh data.
void reserveEdges(const std::size_t n)
Reserve storage space for n edges (2*n storage space is reserved for the half-edges).
FaceIndex addFace(const VertexIndices &vertices, const FaceData &face_data=FaceData(), const EdgeData &edge_data=EdgeData(), const HalfEdgeData &half_edge_data=HalfEdgeData())
Add a face to the mesh.
pcl::geometry::HalfEdge HalfEdge
Vertex & getVertex(const VertexIndex &idx_vertex)
Get the vertex for the given index.
void connectPrevNext(const HalfEdgeIndex &idx_he_ab, const HalfEdgeIndex &idx_he_bc)
Connect the next and prev indices of the two half-edges with each other.
bool isBoundary(const FaceIndex &idx_face) const
Check if the given face lies on the boundary.
bool isDeleted(const HalfEdgeIndex &idx_he) const
Check if the given half-edge is marked as deleted.
std::vector< HalfEdge > HalfEdges
bool isIsolated(const VertexIndex &idx_vertex) const
Check if the given vertex is isolated (not connected to other elements).
void makeAdjacent(const HalfEdgeIndex &idx_he_ab, const HalfEdgeIndex &idx_he_bc, HalfEdgeIndex &idx_free_half_edge)
Make the half-edges bc the next half-edge of ab.
Face getFace(const FaceIndex &idx_face) const
Get the face for the given index.
void assignIf(const ConstIteratorT source, IteratorT target, std::true_type) const
Assign the source iterator to the target iterator.
FaceAroundFaceCirculator getFaceAroundFaceCirculator(const FaceIndex &idx_face) const
bool isDeleted(const VertexIndex &idx_vertex) const
Check if the given vertex is marked as deleted.
HalfEdgeIndex getOutgoingHalfEdgeIndex(const VertexIndex &idx_vertex) const
Get the outgoing half-edge index to a given vertex.
typename Vertices::const_iterator VertexConstIterator
bool isManifold(const VertexIndex &idx_vertex, std::false_type) const
Check if the given vertex is manifold.
bool isBoundary(const FaceIndex &idx_face) const
Check if the given face lies on the boundary.
void setFace(const FaceIndex &idx_face, const Face &face)
Set the face at the given index.
void connectNewNew(const HalfEdgeIndex &idx_he_ab, const HalfEdgeIndex &idx_he_bc, const VertexIndex &idx_v_b, std::true_type)
Both half-edges are new (manifold version).
bool isEqualTopology(const Self &other) const
Check if the other mesh has the same topology as this mesh.
VertexIndex addVertex(const VertexData &vertex_data=VertexData())
Add a vertex to the mesh.
FaceAroundVertexCirculator getFaceAroundVertexCirculator(const HalfEdgeIndex &idx_outgoing_half_edge) const
VertexDataCloud getVertexDataCloud() const
Get the stored vertex data.
void setPrevHalfEdgeIndex(const HalfEdgeIndex &idx_half_edge, const HalfEdgeIndex &idx_prev_half_edge)
Set the previous half-edge index to a given half-edge.
void reserveVertices(const std::size_t n)
Reserve storage space n vertices.
typename HalfEdges::const_iterator HalfEdgeConstIterator
void resizeFaces(const std::size_t n, const FaceData &data=FaceData())
Resize the faces to n elements.
pcl::geometry::VertexAroundFaceCirculator< const Self > VertexAroundFaceCirculator
FaceIndex getOppositeFaceIndex(const HalfEdgeIndex &idx_half_edge) const
Get the face index to a given half-edge.
typename MeshTraitsT::IsManifold IsManifold
pcl::PointCloud< HalfEdgeData > HalfEdgeDataCloud
bool checkTopology2(const HalfEdgeIndex &idx_he_ab, const HalfEdgeIndex &idx_he_bc, const bool is_new_ab, const bool is_new_bc, const bool, std::vector< bool >::reference make_adjacent_ab_bc, HalfEdgeIndex &idx_free_half_edge, std::false_type) const
Check if the half-edge bc is the next half-edge of ab.
typename MeshTraitsT::FaceData FaceData
pcl::geometry::InnerHalfEdgeAroundFaceCirculator< const Self > InnerHalfEdgeAroundFaceCirculator
HalfEdgeDataCloud & getHalfEdgeDataCloud()
Get access to the stored half-edge data.
void connectOldOld(const HalfEdgeIndex &, const HalfEdgeIndex &, const VertexIndex &, std::true_type)
Both half-edges are old (manifold version).
void markDeleted(const EdgeIndex &idx_edge)
Mark the given edge (both half-edges) as deleted.
std::vector< VertexIndex > VertexIndices
void connectNewOld(const HalfEdgeIndex &idx_he_ab, const HalfEdgeIndex &idx_he_bc, const VertexIndex &idx_v_b)
The first half-edge is new.
FaceAroundVertexCirculator getFaceAroundVertexCirculator(const VertexIndex &idx_vertex) const
pcl::geometry::VertexAroundVertexCirculator< const Self > VertexAroundVertexCirculator
pcl::geometry::EdgeIndex EdgeIndex
bool isValid(const VertexIndex &idx_vertex) const
Check if the given vertex index is a valid index into the mesh.
VertexIndex getTerminatingVertexIndex(const HalfEdgeIndex &idx_half_edge) const
Get the terminating vertex index to a given half-edge.
EdgeDataCloud getEdgeDataCloud() const
Get the stored edge data.
VertexDataCloud & getVertexDataCloud()
Get access to the stored vertex data.
void deleteFace(const FaceIndex &idx_face, std::false_type)
Non-manifold version of deleteFace.
void cleanUp()
Removes all mesh elements and data that are marked as deleted.
bool isManifold(std::false_type) const
Check if all vertices in the mesh are manifold.
void clearData(DataCloudT &cloud, std::true_type) const
Clear the mesh data.
FaceIndex getFaceIndex(const FaceData &face_data) const
Get the index associated to the given face data.
void setFaceIndex(const HalfEdgeIndex &idx_half_edge, const FaceIndex &idx_face)
Set the face index to a given half-edge.
HalfEdgeIndex addEdge(const VertexIndex &idx_v_a, const VertexIndex &idx_v_b, const HalfEdgeData &he_data, const EdgeData &edge_data)
Add an edge between the two given vertices and connect them with the vertices.
std::integral_constant< bool, !std::is_same< HalfEdgeData, pcl::geometry::NoData >::value > HasHalfEdgeData
void setInnerHalfEdgeIndex(const FaceIndex &idx_face, const HalfEdgeIndex &idx_inner_half_edge)
Set the inner half-edge index to a given face.
FaceIndex getFaceIndex(const HalfEdgeIndex &idx_half_edge) const
Get the face index to a given half-edge.
void incrementIf(IteratorT &, std::false_type) const
Does nothing.
bool isBoundary(const FaceIndex &idx_face, std::false_type) const
Check if any edge of the face lies on the boundary.
bool isDeleted(const EdgeIndex &idx_edge) const
Check if the given edge (any of the two half-edges) is marked as deleted.
void connectOldOld(const HalfEdgeIndex &, const HalfEdgeIndex &idx_he_bc, const VertexIndex &idx_v_b, std::false_type)
Both half-edges are old (non-manifold version).
bool isBoundary(const EdgeIndex &idx_edge) const
Check if the given edge lies on the boundary (any of the two half-edges lies on the boundary.
void reconnectNBNB(const HalfEdgeIndex &idx_he_bc, const HalfEdgeIndex &, const VertexIndex &idx_v_b, std::false_type)
Both edges are not on the boundary.
bool isManifold() const
Check if the mesh is manifold.
void deleteFace(const FaceIndex &idx_face, std::true_type)
Manifold version of deleteFace.
bool isManifold(const VertexIndex &idx_vertex) const
Check if the given vertex is manifold.
OuterHalfEdgeAroundFaceCirculator getOuterHalfEdgeAroundFaceCirculator(const FaceIndex &idx_face) const
typename Vertices::iterator VertexIterator
void clear()
Clear all mesh elements and data.
void incrementIf(IteratorT &it, std::true_type) const
Increment the iterator.
FaceDataCloud & getFaceDataCloud()
Get access to the stored face data.
pcl::geometry::OutgoingHalfEdgeAroundVertexCirculator< const Self > OutgoingHalfEdgeAroundVertexCirculator
IndexContainerT remove(ElementContainerT &elements, DataContainerT &data_cloud)
Removes mesh elements and data that are marked as deleted from the container.
typename Faces::iterator FaceIterator
pcl::geometry::HalfEdgeIndex HalfEdgeIndex
FaceAroundFaceCirculator getFaceAroundFaceCirculator(const HalfEdgeIndex &idx_inner_half_edge) const
HalfEdgeIndex getIncomingHalfEdgeIndex(const VertexIndex &idx_vertex) const
Get the incoming half-edge index to a given vertex.
bool checkTopology1(const VertexIndex &idx_v_a, const VertexIndex &idx_v_b, HalfEdgeIndex &idx_he_ab, std::vector< bool >::reference is_new_ab, std::false_type) const
Non manifold version of checkTopology1.
pcl::PointCloud< EdgeData > EdgeDataCloud
HalfEdge & getHalfEdge(const HalfEdgeIndex &idx_he)
Get the half-edge for the given index.
Face & getFace(const FaceIndex &idx_face)
Get the face for the given index.
HalfEdge getHalfEdge(const HalfEdgeIndex &idx_he) const
Get the half-edge for the given index.
bool isManifold(const VertexIndex &, std::true_type) const
Always manifold.
Read / write the half-edge mesh from / to a file.
Circulates clockwise around a face and returns an index to the outer half-edge (the target).
HalfEdgeIndex getTargetIndex() const
Get the index to the outer half-edge.
Circulates counter-clockwise around a vertex and returns an index to the outgoing half-edge (the targ...
HalfEdgeIndex getTargetIndex() const
Get the index to the outgoing half-edge.
Circulates clockwise around a face and returns an index to the terminating vertex of the inner half-e...
VertexIndex getTargetIndex() const
Get the index to the target vertex.
Circulates counter-clockwise around a vertex and returns an index to the terminating vertex of the ou...
VertexIndex getTargetIndex() const
Get the index to the target vertex.
HalfEdgeIndex getCurrentHalfEdgeIndex() const
Get the half-edge that is currently stored in the circulator.
A vertex is a node in the mesh.
#define PCL_MAKE_ALIGNED_OPERATOR_NEW
Macro to signal a class requires a custom allocator.
pcl::detail::MeshIndex< struct FaceIndexTag > FaceIndex
Index used to access elements in the half-edge mesh.
pcl::detail::MeshIndex< struct EdgeIndexTag > EdgeIndex
Index used to access elements in the half-edge mesh.
pcl::detail::MeshIndex< struct HalfEdgeIndexTag > HalfEdgeIndex
Index used to access elements in the half-edge mesh.
pcl::detail::MeshIndex< struct VertexIndexTag > VertexIndex
Index used to access elements in the half-edge mesh.
Defines functions, macros and traits for allocating and using memory.
float distance(const PointT &p1, const PointT &p2)
HalfEdgeIndex toHalfEdgeIndex(const EdgeIndex &index, const bool get_first=true)
Convert the given edge index to a half-edge index.
Defines all the PCL and non-PCL macros used.
Describes a set of vertices in a polygon mesh, by basically storing an array of indices.