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 (FaceIndices::const_iterator it = delete_faces_vertex_.begin();
235 it != delete_faces_vertex_.end();
272 assert(this->
isValid(idx_edge));
286 assert(this->
isValid(idx_face));
302 this->remove<Vertices, VertexDataCloud, VertexIndices, HasVertexData>(
303 vertices_, vertex_data_cloud_);
305 this->remove<HalfEdges, HalfEdgeDataCloud, HalfEdgeIndices, HasHalfEdgeData>(
306 half_edges_, half_edge_data_cloud_);
308 this->remove<Faces, FaceDataCloud, FaceIndices, HasFaceData>(faces_,
312 if (HasEdgeData::value) {
313 auto it_ed_old = edge_data_cloud_.
begin();
314 auto it_ed_new = edge_data_cloud_.
begin();
316 for (
auto it_ind = new_half_edge_indices.cbegin(),
317 it_ind_end = new_half_edge_indices.cend();
318 it_ind != it_ind_end;
319 it_ind += 2, ++it_ed_old) {
320 if (it_ind->isValid()) {
321 *it_ed_new++ = *it_ed_old;
328 for (
VertexIterator it = vertices_.begin(); it != vertices_.end(); ++it) {
329 if (it->idx_outgoing_half_edge_.isValid()) {
330 it->idx_outgoing_half_edge_ =
331 new_half_edge_indices[it->idx_outgoing_half_edge_.get()];
335 for (
HalfEdgeIterator it = half_edges_.begin(); it != half_edges_.end(); ++it) {
336 it->idx_terminating_vertex_ =
337 new_vertex_indices[it->idx_terminating_vertex_.get()];
338 it->idx_next_half_edge_ = new_half_edge_indices[it->idx_next_half_edge_.get()];
339 it->idx_prev_half_edge_ = new_half_edge_indices[it->idx_prev_half_edge_.get()];
340 if (it->idx_face_.isValid()) {
341 it->idx_face_ = new_face_indices[it->idx_face_.get()];
345 for (
FaceIterator it = faces_.begin(); it != faces_.end(); ++it) {
346 it->idx_inner_half_edge_ = new_half_edge_indices[it->idx_inner_half_edge_.get()];
358 assert(this->
isValid(idx_vertex));
359 return (this->
getVertex(idx_vertex).idx_outgoing_half_edge_);
366 assert(this->
isValid(idx_vertex));
378 assert(this->
isValid(idx_half_edge));
379 return (this->
getHalfEdge(idx_half_edge).idx_terminating_vertex_);
386 assert(this->
isValid(idx_half_edge));
395 assert(this->
isValid(idx_half_edge));
398 : idx_half_edge.
get() + 1));
405 assert(this->
isValid(idx_half_edge));
406 return (this->
getHalfEdge(idx_half_edge).idx_next_half_edge_);
413 assert(this->
isValid(idx_half_edge));
414 return (this->
getHalfEdge(idx_half_edge).idx_prev_half_edge_);
421 assert(this->
isValid(idx_half_edge));
422 return (this->
getHalfEdge(idx_half_edge).idx_face_);
429 assert(this->
isValid(idx_half_edge));
441 assert(this->
isValid(idx_face));
442 return (this->
getFace(idx_face).idx_inner_half_edge_);
449 assert(this->
isValid(idx_face));
461 assert(this->
isValid(idx_vertex));
469 assert(this->
isValid(idx_outgoing_half_edge));
477 assert(this->
isValid(idx_vertex));
486 assert(this->
isValid(idx_outgoing_half_edge));
494 assert(this->
isValid(idx_vertex));
503 assert(this->
isValid(idx_incoming_half_edge));
511 assert(this->
isValid(idx_vertex));
519 assert(this->
isValid(idx_outgoing_half_edge));
527 assert(this->
isValid(idx_face));
535 assert(this->
isValid(idx_inner_half_edge));
543 assert(this->
isValid(idx_face));
551 assert(this->
isValid(idx_inner_half_edge));
559 assert(this->
isValid(idx_face));
567 assert(this->
isValid(idx_inner_half_edge));
575 assert(this->
isValid(idx_face));
583 assert(this->
isValid(idx_inner_half_edge));
602 for (std::size_t i = 0; i < this->
sizeVertices(); ++i) {
625 for (std::size_t i = 0; i < this->
sizeFaces(); ++i) {
675 assert(this->
isValid(idx_vertex));
692 assert(this->
isValid(idx_edge));
701 assert(this->
isValid(idx_face));
713 assert(this->
isValid(idx_vertex));
726 assert(this->
isValid(idx_vertex));
745 assert(this->
isValid(idx_edge));
757 template <
bool CheckVerticesT>
761 assert(this->
isValid(idx_face));
762 return (this->
isBoundary(idx_face, std::integral_constant<bool, CheckVerticesT>()));
770 assert(this->
isValid(idx_face));
771 return (this->
isBoundary(idx_face, std::true_type()));
782 assert(this->
isValid(idx_vertex));
803 return (vertices_.size());
810 assert(half_edges_.size() % 2 == 0);
811 return (half_edges_.size());
818 assert(half_edges_.size() % 2 == 0);
819 return (half_edges_.size() / 2);
826 return (faces_.size());
844 return (vertices_.empty());
851 return (half_edges_.empty());
858 return (faces_.empty());
869 vertices_.reserve(n);
878 half_edges_.reserve(2 * n);
909 half_edges_.resize(2 * n);
950 return (vertex_data_cloud_);
957 return (vertex_data_cloud_);
968 if (vertex_data_cloud.
size() == vertex_data_cloud_.
size()) {
969 vertex_data_cloud_ = vertex_data_cloud;
985 return (half_edge_data_cloud_);
992 return (half_edge_data_cloud_);
1003 if (half_edge_data_cloud.
size() == half_edge_data_cloud_.
size()) {
1004 half_edge_data_cloud_ = half_edge_data_cloud;
1020 return (edge_data_cloud_);
1027 return (edge_data_cloud_);
1037 if (edge_data_cloud.
size() == edge_data_cloud_.
size()) {
1038 edge_data_cloud_ = edge_data_cloud;
1054 return (face_data_cloud_);
1061 return (face_data_cloud_);
1071 if (face_data_cloud.
size() == face_data_cloud_.
size()) {
1072 face_data_cloud_ = face_data_cloud;
1088 if (HasVertexData::value) {
1089 assert(&vertex_data >= &vertex_data_cloud_.
front() &&
1090 &vertex_data <= &vertex_data_cloud_.
back());
1100 if (HasHalfEdgeData::value) {
1101 assert(&half_edge_data >= &half_edge_data_cloud_.
front() &&
1102 &half_edge_data <= &half_edge_data_cloud_.
back());
1113 if (HasEdgeData::value) {
1114 assert(&edge_data >= &edge_data_cloud_.
front() &&
1115 &edge_data <= &edge_data_cloud_.
back());
1125 if (HasFaceData::value) {
1126 assert(&face_data >= &face_data_cloud_.
front() &&
1127 &face_data <= &face_data_cloud_.
back());
1162 const int n =
static_cast<int>(vertices.size());
1167 inner_he_.resize(n);
1170 make_adjacent_.resize(n);
1171 for (
int i = 0; i < n; ++i) {
1173 vertices[(i + 1) % n],
1180 for (
int i = 0; i < n; ++i) {
1181 int j = (i + 1) % n;
1195 if (!IsManifold::value) {
1196 for (
int i = 0; i < n; ++i) {
1197 if (make_adjacent_[i]) {
1198 this->
makeAdjacent(inner_he_[i], inner_he_[(i + 1) % n], free_he_[i]);
1204 for (
int i = 0; i < n; ++i) {
1207 vertices[i], vertices[(i + 1) % n], half_edge_data, edge_data);
1212 for (
int i = 0; i < n; ++i) {
1213 int j = (i + 1) % n;
1214 if (is_new_[i] && is_new_[j])
1216 else if (is_new_[i] && !is_new_[j])
1217 this->
connectNewOld(inner_he_[i], inner_he_[j], vertices[j]);
1218 else if (!is_new_[i] && is_new_[j])
1219 this->
connectOldNew(inner_he_[i], inner_he_[j], vertices[j]);
1246 half_edges_.push_back(
HalfEdge(idx_v_b));
1247 half_edges_.push_back(
HalfEdge(idx_v_a));
1253 return (
HalfEdgeIndex(
static_cast<int>(half_edges_.size() - 2)));
1272 std::vector<bool>::reference is_new_ab,
1273 std::true_type )
const
1293 std::vector<bool>::reference is_new_ab,
1294 std::false_type )
const
1315 }
while (++circ != circ_end);
1324 const bool is_new_ab,
1325 const bool is_new_bc,
1326 const bool is_isolated_b,
1327 std::vector<bool>::reference ,
1329 std::true_type )
const
1331 return !(is_new_ab && is_new_bc && !is_isolated_b);
1346 const bool is_new_ab,
1347 const bool is_new_bc,
1349 std::vector<bool>::reference make_adjacent_ab_bc,
1351 std::false_type )
const
1353 if (is_new_ab || is_new_bc) {
1354 make_adjacent_ab_bc =
false;
1359 make_adjacent_ab_bc =
false;
1363 make_adjacent_ab_bc =
true;
1416 faces_.push_back(
Face(inner_he.back()));
1421 for (
const auto& idx_half_edge : inner_he) {
1460 this->
connectNewNew(idx_he_ab, idx_he_bc, idx_v_b, std::true_type());
1526 if (idx_he_b_out == idx_he_bc)
1532 while (++circ != circ_end) {
1546 template <
class DataT>
1554 template <
class DataT>
1571 assert(this->
isValid(idx_face));
1572 delete_faces_face_.clear();
1573 delete_faces_face_.push_back(idx_face);
1575 while (!delete_faces_face_.empty()) {
1576 const FaceIndex idx_face_cur = delete_faces_face_.back();
1577 delete_faces_face_.pop_back();
1581 this->
deleteFace(idx_face_cur, std::false_type());
1589 assert(this->
isValid(idx_face));
1595 is_boundary_.clear();
1601 is_boundary_.push_back(
1603 }
while (++circ != circ_end);
1604 assert(inner_he_.size() >= 3);
1606 const int n =
static_cast<int>(inner_he_.size());
1609 if (IsManifold::value) {
1610 for (
int i = 0; i < n; ++i) {
1612 this->
reconnect(inner_he_[i], inner_he_[j], is_boundary_[i], is_boundary_[j]);
1614 for (
int i = 0; i < n; ++i) {
1619 for (
int i = 0; i < n; ++i) {
1621 this->
reconnect(inner_he_[i], inner_he_[j], is_boundary_[i], is_boundary_[j]);
1638 const bool is_boundary_ba,
1639 const bool is_boundary_cb)
1645 if (is_boundary_ba && is_boundary_cb)
1649 if (idx_he_cb_next == idx_he_ba)
1661 else if (is_boundary_ba && !is_boundary_cb)
1669 else if (!is_boundary_ba && is_boundary_cb)
1695 delete_faces_face_.push_back(this->
getFaceIndex((circ++).getTargetIndex()));
1697 #ifdef PCL_GEOMETRY_MESH_BASE_TEST_DELETE_FACE_MANIFOLD_2
1705 pcl::geometry::g_pcl_geometry_mesh_base_test_delete_face_manifold_2_success =
1737 assert(this->
isValid(idx_vertex));
1745 assert(this->
isValid(idx_he));
1753 assert(this->
isValid(idx_edge));
1762 assert(this->
isValid(idx_face));
1783 template <
class ElementContainerT,
1784 class DataContainerT,
1785 class IndexContainerT,
1788 remove(ElementContainerT& elements, DataContainerT& data_cloud)
1790 using Index =
typename IndexContainerT::value_type;
1791 using Element =
typename ElementContainerT::value_type;
1793 if (HasDataT::value)
1794 assert(elements.size() == data_cloud.size());
1796 assert(data_cloud.empty());
1798 IndexContainerT new_indices(elements.size(),
1799 typename IndexContainerT::value_type());
1800 Index ind_old(0), ind_new(0);
1802 typename ElementContainerT::const_iterator it_e_old = elements.begin();
1803 typename ElementContainerT::iterator it_e_new = elements.begin();
1805 typename DataContainerT::const_iterator it_d_old = data_cloud.begin();
1806 typename DataContainerT::iterator it_d_new = data_cloud.begin();
1808 typename IndexContainerT::iterator it_ind_new = new_indices.begin();
1809 typename IndexContainerT::const_iterator it_ind_new_end = new_indices.end();
1811 while (it_ind_new != it_ind_new_end) {
1813 *it_ind_new = ind_new++;
1816 *it_e_new++ = *it_e_old;
1817 this->
assignIf(it_d_old, it_d_new, HasDataT());
1826 elements.resize(ind_new.get(), Element());
1827 if (HasDataT::value) {
1828 data_cloud.resize(ind_new.get());
1830 else if (it_d_old != data_cloud.begin() || it_d_new != data_cloud.begin()) {
1831 std::cerr <<
"TODO: Bug in MeshBase::remove!\n";
1836 return (new_indices);
1840 template <
class IteratorT>
1848 template <
class IteratorT>
1854 template <
class ConstIteratorT,
class IteratorT>
1858 std::true_type )
const
1864 template <
class ConstIteratorT,
class IteratorT>
1868 std::false_type )
const
1880 assert(this->
isValid(idx_vertex));
1881 this->
getVertex(idx_vertex).idx_outgoing_half_edge_ = idx_outgoing_half_edge;
1889 assert(this->
isValid(idx_half_edge));
1890 this->
getHalfEdge(idx_half_edge).idx_terminating_vertex_ = idx_terminating_vertex;
1898 assert(this->
isValid(idx_half_edge));
1899 this->
getHalfEdge(idx_half_edge).idx_next_half_edge_ = idx_next_half_edge;
1907 assert(this->
isValid(idx_half_edge));
1908 this->
getHalfEdge(idx_half_edge).idx_prev_half_edge_ = idx_prev_half_edge;
1915 assert(this->
isValid(idx_half_edge));
1916 this->
getHalfEdge(idx_half_edge).idx_face_ = idx_face;
1924 assert(this->
isValid(idx_face));
1925 this->
getFace(idx_face).idx_inner_half_edge_ = idx_inner_half_edge;
1943 }
while (++circ != circ_end);
1960 }
while (++circ != circ_end);
1980 if (!this->
isBoundary((circ++).getTargetIndex()))
1985 }
while (++circ != circ_end);
1996 for (std::size_t i = 0; i < this->
sizeVertices(); ++i) {
2008 template <
class DataCloudT>
2010 reserveData(DataCloudT& cloud,
const std::size_t n, std::true_type )
const
2016 template <
class DataCloudT>
2020 std::false_type )
const
2024 template <
class DataCloudT>
2027 const std::size_t n,
2028 const typename DataCloudT::value_type& data,
2029 std::true_type )
const
2031 data.resize(n, data);
2035 template <
class DataCloudT>
2039 const typename DataCloudT::value_type& ,
2040 std::false_type )
const
2044 template <
class DataCloudT>
2052 template <
class DataCloudT>
2065 assert(this->
isValid(idx_vertex));
2066 return (vertices_[idx_vertex.
get()]);
2073 assert(this->
isValid(idx_vertex));
2074 return (vertices_[idx_vertex.
get()]);
2081 assert(this->
isValid(idx_vertex));
2082 vertices_[idx_vertex.
get()] = vertex;
2093 assert(this->
isValid(idx_he));
2094 return (half_edges_[idx_he.
get()]);
2101 assert(this->
isValid(idx_he));
2102 return (half_edges_[idx_he.
get()]);
2109 assert(this->
isValid(idx_he));
2110 half_edges_[idx_he.
get()] = half_edge;
2121 assert(this->
isValid(idx_face));
2122 return (faces_[idx_face.
get()]);
2129 assert(this->
isValid(idx_face));
2130 return (faces_[idx_face.
get()]);
2137 assert(this->
isValid(idx_face));
2138 faces_[idx_face.
get()] = face;
2176 std::vector<bool> is_new_;
2179 std::vector<bool> make_adjacent_;
2182 std::vector<bool> is_boundary_;
2191 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.
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 bounddary.
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
void resizeData(DataCloudT &, const std::size_t n, const typename DataCloudT::value_type &data, std::true_type) const
Resize the mesh data.
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.