Point Cloud Library (PCL)  1.12.1-dev
triangle_mesh.h
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40 
41 #pragma once
42 
43 #include <pcl/geometry/mesh_base.h>
44 #include <pcl/memory.h>
45 #include <pcl/pcl_macros.h>
46 
47 #include <utility>
48 
49 namespace pcl {
50 namespace geometry {
51 /** \brief Tag describing the type of the mesh. */
52 struct TriangleMeshTag {};
53 
54 /** \brief Half-edge mesh that can only store triangles.
55  * \tparam MeshTraitsT Please have a look at pcl::geometry::DefaultMeshTraits.
56  * \author Martin Saelzle
57  * \ingroup geometry
58  */
59 template <class MeshTraitsT>
60 class TriangleMesh : public pcl::geometry::MeshBase<TriangleMesh<MeshTraitsT>,
61  MeshTraitsT,
62  TriangleMeshTag> {
63 public:
64  using Base =
66 
68  using Ptr = shared_ptr<Self>;
69  using ConstPtr = shared_ptr<const Self>;
70 
71  using VertexData = typename Base::VertexData;
72  using HalfEdgeData = typename Base::HalfEdgeData;
73  using EdgeData = typename Base::EdgeData;
74  using FaceData = typename Base::FaceData;
75  using IsManifold = typename Base::IsManifold;
76  using MeshTag = typename Base::MeshTag;
77 
80  using HasEdgeData = typename Base::HasEdgeData;
81  using HasFaceData = typename Base::HasFaceData;
82 
87 
88  // Indices
89  using VertexIndex = typename Base::VertexIndex;
91  using EdgeIndex = typename Base::EdgeIndex;
92  using FaceIndex = typename Base::FaceIndex;
93  using FaceIndexPair = std::pair<FaceIndex, FaceIndex>;
94 
97  using EdgeIndices = typename Base::EdgeIndices;
98  using FaceIndices = typename Base::FaceIndices;
99 
100  // Circulators
113 
114  /** \brief Constructor. */
115  TriangleMesh() : Base(), add_triangle_(3), inner_he_atp_(4), is_new_atp_(4) {}
116 
117  /** \brief The base method of addFace is hidden because of the overloads in this
118  * class. */
119  using Base::addFace;
120 
121  /** \brief Add a triangle to the mesh. Data is only added if it is associated with the
122  * elements. The last vertex is connected with the first one.
123  * \param[in] idx_v_0 Index to the first vertex.
124  * \param[in] idx_v_1 Index to the second vertex.
125  * \param[in] idx_v_2 Index to the third vertex.
126  * \param[in] face_data Data that is set for the face.
127  * \param[in] half_edge_data Data that is set for all added half-edges.
128  * \param[in] edge_data Data that is set for all added edges.
129  * \return Index to the new face. Failure is signaled by returning an invalid face
130  * index.
131  * \warning The vertices must be valid and unique (each vertex may be contained
132  * only once). Not complying with this requirement results in undefined behavior!
133  */
134  inline FaceIndex
135  addFace(const VertexIndex& idx_v_0,
136  const VertexIndex& idx_v_1,
137  const VertexIndex& idx_v_2,
138  const FaceData& face_data = FaceData(),
139  const EdgeData& edge_data = EdgeData(),
140  const HalfEdgeData& half_edge_data = HalfEdgeData())
141  {
142  add_triangle_[0] = idx_v_0;
143  add_triangle_[1] = idx_v_1;
144  add_triangle_[2] = idx_v_2;
145 
146  return (this->addFaceImplBase(add_triangle_, face_data, edge_data, half_edge_data));
147  }
148 
149  /** \brief Add two triangles for the four given input vertices. When using a manifold
150  * triangle mesh it is not possible to connect two bounded regions without going
151  * through a non-manifold intermediate step. This method first tries to add the
152  * triangles individually and if this fails connects the whole configuration at once
153  * (if possible).
154  * \param[in] vertices Indices to the vertices of the new face. (The size
155  * must be equal to four).
156  * \param[in] face_data Data that is set for the face.
157  * \param[in] half_edge_data Data that is set for all added half-edges.
158  * \param[in] edge_data Data that is set for all added edges.
159  * \return Pair of face indices. The first index is valid if one triangle was added.
160  * Both indices are valid if two triangles were added.
161  * \warning The vertices must be valid and unique (each vertex may be contained only
162  * once). Not complying with this requirement results in undefined behavior!
163  */
166  const FaceData& face_data = FaceData(),
167  const EdgeData& edge_data = EdgeData(),
168  const HalfEdgeData& half_edge_data = HalfEdgeData())
169  {
170  if (vertices.size() != 4) {
171  return (std::make_pair(FaceIndex(), FaceIndex()));
172  }
173  return (this->addTrianglePair(vertices[0],
174  vertices[1],
175  vertices[2],
176  vertices[3],
177  face_data,
178  edge_data,
179  half_edge_data));
180  }
181 
182  /** \brief Add two triangles for the four given input vertices. When using a manifold
183  * triangle mesh it is not possible to connect two bounded regions without going
184  * through a non-manifold intermediate step. This method first tries to add the
185  * triangles individually and if this fails connects the whole configuration at once
186  * (if possible).
187  * \param[in] idx_v_0 Index to the first vertex.
188  * \param[in] idx_v_1 Index to the second vertex.
189  * \param[in] idx_v_2 Index to the third vertex.
190  * \param[in] idx_v_3 Index to the fourth vertex.
191  * \param[in] face_data Data that is set for the face.
192  * \param[in] half_edge_data Data that is set for all added half-edges.
193  * \param[in] edge_data Data that is set for all added edges.
194  * \return Pair of face indices. The first index is valid if one triangle was added.
195  * Both indices are valid if two triangles were added.
196  * \warning The vertices must be valid and unique (each vertex may be contained only
197  * once). Not complying with this requirement results in undefined behavior!
198  */
199  inline FaceIndexPair
200  addTrianglePair(const VertexIndex& idx_v_0,
201  const VertexIndex& idx_v_1,
202  const VertexIndex& idx_v_2,
203  const VertexIndex& idx_v_3,
204  const FaceData& face_data = FaceData(),
205  const EdgeData& edge_data = EdgeData(),
206  const HalfEdgeData& half_edge_data = HalfEdgeData())
207  {
208  // Try to add two faces
209  // 3 - 2
210  // | / |
211  // 0 - 1
212  FaceIndex idx_face_0 = this->addFace(idx_v_0, idx_v_1, idx_v_2, face_data);
213  FaceIndex idx_face_1 = this->addFace(idx_v_0, idx_v_2, idx_v_3, face_data);
214 
215  if (idx_face_0.isValid()) {
216  return (std::make_pair(idx_face_0, idx_face_1));
217  }
218  if (idx_face_1.isValid()) {
219  idx_face_0 = this->addFace(
220  idx_v_0, idx_v_1, idx_v_2, face_data); // might be possible to add now
221  return (std::make_pair(idx_face_1, idx_face_0));
222  }
223 
224  // Try to add two faces
225  // 3 - 2
226  // | \ |
227  // 0 - 1
228  idx_face_0 = this->addFace(idx_v_1, idx_v_2, idx_v_3, face_data);
229  idx_face_1 = this->addFace(idx_v_0, idx_v_1, idx_v_3, face_data);
230 
231  if (idx_face_0.isValid()) {
232  return (std::make_pair(idx_face_0, idx_face_1));
233  }
234  if (idx_face_1.isValid()) {
235  idx_face_0 = this->addFace(
236  idx_v_1, idx_v_2, idx_v_3, face_data); // might be possible to add now
237  return (std::make_pair(idx_face_1, idx_face_0));
238  }
239 
240  if (!IsManifold::value) {
241  return (std::make_pair(FaceIndex(), FaceIndex()));
242  }
243 
244  // Check manifoldness
246  idx_v_0, idx_v_1, inner_he_atp_[0], is_new_atp_[0], IsManifold()) ||
248  idx_v_1, idx_v_2, inner_he_atp_[1], is_new_atp_[1], IsManifold()) ||
250  idx_v_2, idx_v_3, inner_he_atp_[2], is_new_atp_[2], IsManifold()) ||
252  idx_v_3, idx_v_0, inner_he_atp_[3], is_new_atp_[3], IsManifold())) {
253  return (std::make_pair(FaceIndex(), FaceIndex()));
254  }
255 
256  // Connect the triangle pair
257  if (!is_new_atp_[0] && is_new_atp_[1] && !is_new_atp_[2] && is_new_atp_[3]) {
258  return (this->connectTrianglePair(inner_he_atp_[0],
259  inner_he_atp_[2],
260  idx_v_0,
261  idx_v_1,
262  idx_v_2,
263  idx_v_3,
264  face_data,
265  edge_data,
266  half_edge_data));
267  }
268  if (is_new_atp_[0] && !is_new_atp_[1] && is_new_atp_[2] && !is_new_atp_[3]) {
269  return (this->connectTrianglePair(inner_he_atp_[1],
270  inner_he_atp_[3],
271  idx_v_1,
272  idx_v_2,
273  idx_v_3,
274  idx_v_0,
275  face_data,
276  edge_data,
277  half_edge_data));
278  }
279  return (std::make_pair(FaceIndex(), FaceIndex()));
280  }
281 
282 private:
283  // NOTE: Can't use the typedef of Base as a friend.
284  friend class pcl::geometry::
285  MeshBase<TriangleMesh<MeshTraitsT>, MeshTraitsT, pcl::geometry::TriangleMeshTag>;
286 
287  /** \brief addFace for the triangular mesh. */
288  inline FaceIndex
289  addFaceImpl(const VertexIndices& vertices,
290  const FaceData& face_data,
291  const EdgeData& edge_data,
292  const HalfEdgeData& half_edge_data)
293  {
294  if (vertices.size() == 3)
295  return (this->addFaceImplBase(vertices, face_data, edge_data, half_edge_data));
296  return (FaceIndex());
297  }
298 
299  /** \brief Connect the triangles a-b-c and a-c-d. The edges a-b and c-d must be old
300  * and the edges b-c and d-a must be new. */
301  // d - c
302  // | / |
303  // a - b
305  connectTrianglePair(const HalfEdgeIndex& idx_he_ab,
306  const HalfEdgeIndex& idx_he_cd,
307  const VertexIndex& idx_v_a,
308  const VertexIndex& idx_v_b,
309  const VertexIndex& idx_v_c,
310  const VertexIndex& idx_v_d,
311  const FaceData& face_data,
312  const EdgeData& edge_data,
313  const HalfEdgeData& he_data)
314  {
315  // Add new half-edges
316  const HalfEdgeIndex idx_he_bc = Base::addEdge(idx_v_b, idx_v_c, he_data, edge_data);
317  const HalfEdgeIndex idx_he_da = Base::addEdge(idx_v_d, idx_v_a, he_data, edge_data);
318  const HalfEdgeIndex idx_he_ca = Base::addEdge(idx_v_c, idx_v_a, he_data, edge_data);
319 
320  const HalfEdgeIndex idx_he_cb = Base::getOppositeHalfEdgeIndex(idx_he_bc);
321  const HalfEdgeIndex idx_he_ad = Base::getOppositeHalfEdgeIndex(idx_he_da);
322  const HalfEdgeIndex idx_he_ac = Base::getOppositeHalfEdgeIndex(idx_he_ca);
323 
324  // Get the existing half-edges
325  const HalfEdgeIndex idx_he_ab_prev =
326  Base::getPrevHalfEdgeIndex(idx_he_ab); // No reference!
327  const HalfEdgeIndex idx_he_ab_next =
328  Base::getNextHalfEdgeIndex(idx_he_ab); // No reference!
329 
330  const HalfEdgeIndex idx_he_cd_prev =
331  Base::getPrevHalfEdgeIndex(idx_he_cd); // No reference!
332  const HalfEdgeIndex idx_he_cd_next =
333  Base::getNextHalfEdgeIndex(idx_he_cd); // No reference!
334 
335  // Connect the outer half-edges
336  Base::connectPrevNext(idx_he_ab_prev, idx_he_ad);
337  Base::connectPrevNext(idx_he_ad, idx_he_cd_next);
338  Base::connectPrevNext(idx_he_cd_prev, idx_he_cb);
339  Base::connectPrevNext(idx_he_cb, idx_he_ab_next);
340 
341  // Connect the inner half-edges
342  Base::connectPrevNext(idx_he_ab, idx_he_bc);
343  Base::connectPrevNext(idx_he_bc, idx_he_ca);
344  Base::connectPrevNext(idx_he_ca, idx_he_ab);
345 
346  Base::connectPrevNext(idx_he_ac, idx_he_cd);
347  Base::connectPrevNext(idx_he_cd, idx_he_da);
348  Base::connectPrevNext(idx_he_da, idx_he_ac);
349 
350  // Connect the vertices to the boundary half-edges
351  Base::setOutgoingHalfEdgeIndex(idx_v_a, idx_he_ad);
352  Base::setOutgoingHalfEdgeIndex(idx_v_b, idx_he_ab_next);
353  Base::setOutgoingHalfEdgeIndex(idx_v_c, idx_he_cb);
354  Base::setOutgoingHalfEdgeIndex(idx_v_d, idx_he_cd_next);
355 
356  // Add and connect the faces
357  HalfEdgeIndices inner_he_abc;
358  inner_he_abc.reserve(3);
359  inner_he_abc.push_back(idx_he_ab);
360  inner_he_abc.push_back(idx_he_bc);
361  inner_he_abc.push_back(idx_he_ca);
362 
363  HalfEdgeIndices inner_he_acd;
364  inner_he_acd.reserve(3);
365  inner_he_acd.push_back(idx_he_ac);
366  inner_he_acd.push_back(idx_he_cd);
367  inner_he_acd.push_back(idx_he_da);
368 
369  const FaceIndex idx_f_abc = Base::connectFace(inner_he_abc, face_data);
370  const FaceIndex idx_f_acd = Base::connectFace(inner_he_acd, face_data);
371 
372  return (std::make_pair(idx_f_abc, idx_f_acd));
373  }
374 
375  ////////////////////////////////////////////////////////////////////////
376  // Members
377  ////////////////////////////////////////////////////////////////////////
378 
379  /** \brief Storage for adding a triangle. */
380  VertexIndices add_triangle_;
381 
382  /** \brief Storage for addTrianglePair. */
383  HalfEdgeIndices inner_he_atp_;
384 
385  /** \brief Storage for addTrianglePair. */
386  std::vector<bool> is_new_atp_;
387 
388 public:
390 };
391 } // namespace geometry
392 } // End namespace pcl
Base class for the half-edge mesh.
Definition: mesh_base.h:95
void setOutgoingHalfEdgeIndex(const VertexIndex &idx_vertex, const HalfEdgeIndex &idx_outgoing_half_edge)
Set the outgoing half-edge index to a given vertex.
Definition: mesh_base.h:1875
HalfEdgeIndex getNextHalfEdgeIndex(const HalfEdgeIndex &idx_half_edge) const
Get the next half-edge index to a given half-edge.
Definition: mesh_base.h:401
std::integral_constant< bool, !std::is_same< VertexData, pcl::geometry::NoData >::value > HasVertexData
Definition: mesh_base.h:119
pcl::geometry::IncomingHalfEdgeAroundVertexCirculator< const Self > IncomingHalfEdgeAroundVertexCirculator
Definition: mesh_base.h:152
pcl::geometry::OuterHalfEdgeAroundFaceCirculator< const Self > OuterHalfEdgeAroundFaceCirculator
Definition: mesh_base.h:160
HalfEdgeIndex getOppositeHalfEdgeIndex(const HalfEdgeIndex &idx_half_edge) const
Get the opposite half-edge index to a given half-edge.
Definition: mesh_base.h:391
FaceIndex connectFace(const HalfEdgeIndices &inner_he, const FaceData &face_data)
Add a face to the mesh and connect it to the half-edges.
Definition: mesh_base.h:1412
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.
Definition: mesh_base.h:1267
HalfEdgeIndex getPrevHalfEdgeIndex(const HalfEdgeIndex &idx_half_edge) const
Get the previous half-edge index to a given half-edge.
Definition: mesh_base.h:409
pcl::geometry::FaceAroundFaceCirculator< const Self > FaceAroundFaceCirculator
Definition: mesh_base.h:161
FaceIndex addFaceImplBase(const VertexIndices &vertices, const FaceData &face_data, const EdgeData &edge_data, const HalfEdgeData &half_edge_data)
General implementation of addFace.
Definition: mesh_base.h:1155
pcl::geometry::FaceAroundVertexCirculator< const Self > FaceAroundVertexCirculator
Definition: mesh_base.h:154
std::integral_constant< bool, !std::is_same< EdgeData, pcl::geometry::NoData >::value > HasEdgeData
Definition: mesh_base.h:125
std::integral_constant< bool, !std::is_same< FaceData, pcl::geometry::NoData >::value > HasFaceData
Definition: mesh_base.h:128
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.
Definition: mesh_base.h:202
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.
Definition: mesh_base.h:1428
pcl::geometry::VertexAroundFaceCirculator< const Self > VertexAroundFaceCirculator
Definition: mesh_base.h:156
pcl::geometry::InnerHalfEdgeAroundFaceCirculator< const Self > InnerHalfEdgeAroundFaceCirculator
Definition: mesh_base.h:158
pcl::geometry::VertexAroundVertexCirculator< const Self > VertexAroundVertexCirculator
Definition: mesh_base.h:148
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.
Definition: mesh_base.h:1239
std::integral_constant< bool, !std::is_same< HalfEdgeData, pcl::geometry::NoData >::value > HasHalfEdgeData
Definition: mesh_base.h:122
pcl::geometry::OutgoingHalfEdgeAroundVertexCirculator< const Self > OutgoingHalfEdgeAroundVertexCirculator
Definition: mesh_base.h:150
Half-edge mesh that can only store triangles.
Definition: triangle_mesh.h:62
typename Base::EdgeData EdgeData
Definition: triangle_mesh.h:73
typename Base::InnerHalfEdgeAroundFaceCirculator InnerHalfEdgeAroundFaceCirculator
typename Base::HalfEdgeDataCloud HalfEdgeDataCloud
Definition: triangle_mesh.h:84
shared_ptr< const Self > ConstPtr
Definition: triangle_mesh.h:69
typename Base::VertexDataCloud VertexDataCloud
Definition: triangle_mesh.h:83
FaceIndex addFace(const VertexIndex &idx_v_0, const VertexIndex &idx_v_1, const VertexIndex &idx_v_2, const FaceData &face_data=FaceData(), const EdgeData &edge_data=EdgeData(), const HalfEdgeData &half_edge_data=HalfEdgeData())
Add a triangle to the mesh.
typename Base::HasFaceData HasFaceData
Definition: triangle_mesh.h:81
FaceIndexPair addTrianglePair(const VertexIndices &vertices, const FaceData &face_data=FaceData(), const EdgeData &edge_data=EdgeData(), const HalfEdgeData &half_edge_data=HalfEdgeData())
Add two triangles for the four given input vertices.
typename Base::MeshTag MeshTag
Definition: triangle_mesh.h:76
typename Base::VertexData VertexData
Definition: triangle_mesh.h:71
typename Base::VertexAroundVertexCirculator VertexAroundVertexCirculator
typename Base::VertexAroundFaceCirculator VertexAroundFaceCirculator
shared_ptr< Self > Ptr
Definition: triangle_mesh.h:68
typename Base::EdgeIndex EdgeIndex
Definition: triangle_mesh.h:91
typename Base::HalfEdgeData HalfEdgeData
Definition: triangle_mesh.h:72
typename Base::IsManifold IsManifold
Definition: triangle_mesh.h:75
typename Base::HasVertexData HasVertexData
Definition: triangle_mesh.h:78
typename Base::OuterHalfEdgeAroundFaceCirculator OuterHalfEdgeAroundFaceCirculator
typename Base::IncomingHalfEdgeAroundVertexCirculator IncomingHalfEdgeAroundVertexCirculator
FaceIndexPair addTrianglePair(const VertexIndex &idx_v_0, const VertexIndex &idx_v_1, const VertexIndex &idx_v_2, const VertexIndex &idx_v_3, const FaceData &face_data=FaceData(), const EdgeData &edge_data=EdgeData(), const HalfEdgeData &half_edge_data=HalfEdgeData())
Add two triangles for the four given input vertices.
typename Base::FaceAroundVertexCirculator FaceAroundVertexCirculator
typename Base::EdgeDataCloud EdgeDataCloud
Definition: triangle_mesh.h:85
typename Base::FaceIndices FaceIndices
Definition: triangle_mesh.h:98
typename Base::HalfEdgeIndices HalfEdgeIndices
Definition: triangle_mesh.h:96
std::pair< FaceIndex, FaceIndex > FaceIndexPair
Definition: triangle_mesh.h:93
typename Base::EdgeIndices EdgeIndices
Definition: triangle_mesh.h:97
typename Base::HalfEdgeIndex HalfEdgeIndex
Definition: triangle_mesh.h:90
typename Base::FaceDataCloud FaceDataCloud
Definition: triangle_mesh.h:86
typename Base::FaceAroundFaceCirculator FaceAroundFaceCirculator
typename Base::HasHalfEdgeData HasHalfEdgeData
Definition: triangle_mesh.h:79
typename Base::VertexIndex VertexIndex
Definition: triangle_mesh.h:89
typename Base::HasEdgeData HasEdgeData
Definition: triangle_mesh.h:80
typename Base::FaceIndex FaceIndex
Definition: triangle_mesh.h:92
typename Base::OutgoingHalfEdgeAroundVertexCirculator OutgoingHalfEdgeAroundVertexCirculator
typename Base::VertexIndices VertexIndices
Definition: triangle_mesh.h:95
typename Base::FaceData FaceData
Definition: triangle_mesh.h:74
#define PCL_MAKE_ALIGNED_OPERATOR_NEW
Macro to signal a class requires a custom allocator.
Definition: memory.h:63
Defines functions, macros and traits for allocating and using memory.
Defines all the PCL and non-PCL macros used.
Tag describing the type of the mesh.
Definition: triangle_mesh.h:52