Point Cloud Library (PCL)
1.7.0
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00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Point Cloud Library (PCL) - www.pointclouds.org 00005 * Copyright (c) 2009-2012, Willow Garage, Inc. 00006 * Copyright (c) 2012-, Open Perception, Inc. 00007 * 00008 * All rights reserved. 00009 * 00010 * Redistribution and use in source and binary forms, with or without 00011 * modification, are permitted provided that the following conditions 00012 * are met: 00013 * 00014 * * Redistributions of source code must retain the above copyright 00015 * notice, this list of conditions and the following disclaimer. 00016 * * Redistributions in binary form must reproduce the above 00017 * copyright notice, this list of conditions and the following 00018 * disclaimer in the documentation and/or other materials provided 00019 * with the distribution. 00020 * * Neither the name of the copyright holder(s) nor the names of its 00021 * contributors may be used to endorse or promote products derived 00022 * from this software without specific prior written permission. 00023 * 00024 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00025 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00026 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00027 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00028 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00029 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00030 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00031 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00032 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00033 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00034 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00035 * POSSIBILITY OF SUCH DAMAGE. 00036 * 00037 * $Id$ 00038 * 00039 */ 00040 00041 #ifndef PCL_GEOMETRY_MESH_CONVERSION_H 00042 #define PCL_GEOMETRY_MESH_CONVERSION_H 00043 00044 #include <pcl/PolygonMesh.h> 00045 #include <pcl/conversions.h> 00046 00047 namespace pcl 00048 { 00049 namespace geometry 00050 { 00051 /** \brief Convert a half-edge mesh to a face-vertex mesh. 00052 * \param[in] half_edge_mesh The input mesh. 00053 * \param[out] face_vertex_mesh The output mesh. 00054 * \author Martin Saelzle 00055 * \ingroup geometry 00056 */ 00057 template <class HalfEdgeMeshT> void 00058 toFaceVertexMesh (const HalfEdgeMeshT& half_edge_mesh, pcl::PolygonMesh& face_vertex_mesh) 00059 { 00060 typedef HalfEdgeMeshT HalfEdgeMesh; 00061 typedef typename HalfEdgeMesh::VertexAroundFaceCirculator VAFC; 00062 typedef typename HalfEdgeMesh::FaceIndex FaceIndex; 00063 00064 pcl::Vertices polygon; 00065 pcl::toPCLPointCloud2 (half_edge_mesh.getVertexDataCloud (), face_vertex_mesh.cloud); 00066 00067 face_vertex_mesh.polygons.reserve (half_edge_mesh.sizeFaces ()); 00068 for (size_t i=0; i<half_edge_mesh.sizeFaces (); ++i) 00069 { 00070 VAFC circ = half_edge_mesh.getVertexAroundFaceCirculator (FaceIndex (i)); 00071 const VAFC circ_end = circ; 00072 polygon.vertices.clear (); 00073 do 00074 { 00075 polygon.vertices.push_back (circ.getTargetIndex ().get ()); 00076 } while (++circ != circ_end); 00077 face_vertex_mesh.polygons.push_back (polygon); 00078 } 00079 } 00080 00081 /** \brief Convert a face-vertex mesh to a half-edge mesh. 00082 * \param[in] face_vertex_mesh The input mesh. 00083 * \param[out] half_edge_mesh The output mesh. It must have data associated with the vertices. 00084 * \return The number of faces that could NOT be added to the half-edge mesh. 00085 * \author Martin Saelzle 00086 * \ingroup geometry 00087 */ 00088 template <class HalfEdgeMeshT> int 00089 toHalfEdgeMesh (const pcl::PolygonMesh& face_vertex_mesh, HalfEdgeMeshT& half_edge_mesh) 00090 { 00091 typedef HalfEdgeMeshT HalfEdgeMesh; 00092 typedef typename HalfEdgeMesh::VertexDataCloud VertexDataCloud; 00093 typedef typename HalfEdgeMesh::VertexIndex VertexIndex; 00094 typedef typename HalfEdgeMesh::VertexIndices VertexIndices; 00095 00096 BOOST_STATIC_ASSERT (HalfEdgeMesh::HasVertexData::value); // Output mesh must have data associated with the vertices! 00097 00098 VertexDataCloud vertices; 00099 pcl::fromPCLPointCloud2 (face_vertex_mesh.cloud, vertices); 00100 00101 half_edge_mesh.reserveVertices (vertices.size ()); 00102 half_edge_mesh.reserveEdges (3 * face_vertex_mesh.polygons.size ()); 00103 half_edge_mesh.reserveFaces ( face_vertex_mesh.polygons.size ()); 00104 00105 for (typename VertexDataCloud::const_iterator it=vertices.begin (); it!=vertices.end (); ++it) 00106 { 00107 half_edge_mesh.addVertex (*it); 00108 } 00109 00110 assert (half_edge_mesh.sizeVertices () == vertices.size ()); 00111 00112 int count_not_added = 0; 00113 VertexIndices vi; 00114 vi.reserve (3); // Minimum number (triangle) 00115 for (size_t i=0; i<face_vertex_mesh.polygons.size (); ++i) 00116 { 00117 vi.clear (); 00118 for (size_t j=0; j<face_vertex_mesh.polygons [i].vertices.size (); ++j) 00119 { 00120 vi.push_back (VertexIndex (face_vertex_mesh.polygons [i].vertices [j])); 00121 } 00122 00123 if (!half_edge_mesh.addFace (vi).isValid ()) 00124 { 00125 ++count_not_added; 00126 } 00127 } 00128 00129 return (count_not_added); 00130 } 00131 } // End namespace geometry 00132 } // End namespace pcl 00133 00134 #endif // PCL_GEOMETRY_MESH_CONVERSION_H