Point Cloud Library (PCL)
1.7.0
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00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2010, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of Willow Garage, Inc. nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 * 00034 * $Id$ 00035 * 00036 */ 00037 00038 #ifndef PCL_SURFACE_EAR_CLIPPING_H_ 00039 #define PCL_SURFACE_EAR_CLIPPING_H_ 00040 00041 #include <pcl/point_types.h> 00042 #include <pcl/surface/processing.h> 00043 00044 namespace pcl 00045 { 00046 00047 /** \brief The ear clipping triangulation algorithm. 00048 * The code is inspired by Flavien Brebion implementation, which is 00049 * in n^3 and does not handle holes. 00050 * \author Nicolas Burrus 00051 * \ingroup surface 00052 */ 00053 class PCL_EXPORTS EarClipping : public MeshProcessing 00054 { 00055 public: 00056 typedef boost::shared_ptr<EarClipping> Ptr; 00057 typedef boost::shared_ptr<const EarClipping> ConstPtr; 00058 00059 using MeshProcessing::input_mesh_; 00060 using MeshProcessing::initCompute; 00061 /** \brief Empty constructor */ 00062 EarClipping () : MeshProcessing (), points_ () 00063 { 00064 }; 00065 00066 protected: 00067 /** \brief a Pointer to the point cloud data. */ 00068 pcl::PointCloud<pcl::PointXYZ>::Ptr points_; 00069 00070 /** \brief This method should get called before starting the actual computation. */ 00071 bool 00072 initCompute (); 00073 00074 /** \brief The actual surface reconstruction method. 00075 * \param[out] output the output polygonal mesh 00076 */ 00077 void 00078 performProcessing (pcl::PolygonMesh &output); 00079 00080 /** \brief Triangulate one polygon. 00081 * \param[in] vertices the set of vertices 00082 * \param[out] output the resultant polygonal mesh 00083 */ 00084 void 00085 triangulate (const Vertices& vertices, PolygonMesh& output); 00086 00087 /** \brief Compute the signed area of a polygon. 00088 * \param[in] vertices the vertices representing the polygon 00089 */ 00090 float 00091 area (const std::vector<uint32_t>& vertices); 00092 00093 /** \brief Check if the triangle (u,v,w) is an ear. 00094 * \param[in] u the first triangle vertex 00095 * \param[in] v the second triangle vertex 00096 * \param[in] w the third triangle vertex 00097 * \param[in] vertices a set of input vertices 00098 */ 00099 bool 00100 isEar (int u, int v, int w, const std::vector<uint32_t>& vertices); 00101 00102 /** \brief Check if p is inside the triangle (u,v,w). 00103 * \param[in] u the first triangle vertex 00104 * \param[in] v the second triangle vertex 00105 * \param[in] w the third triangle vertex 00106 * \param[in] p the point to check 00107 */ 00108 bool 00109 isInsideTriangle (const Eigen::Vector2f& u, 00110 const Eigen::Vector2f& v, 00111 const Eigen::Vector2f& w, 00112 const Eigen::Vector2f& p); 00113 00114 00115 /** \brief Compute the cross product between 2D vectors. 00116 * \param[in] p1 the first 2D vector 00117 * \param[in] p2 the first 2D vector 00118 */ 00119 float 00120 crossProduct (const Eigen::Vector2f& p1, const Eigen::Vector2f& p2) const 00121 { 00122 return p1[0]*p2[1] - p1[1]*p2[0]; 00123 } 00124 00125 }; 00126 00127 } 00128 00129 #endif // #ifndef PCL_SURFACE_EAR_CLIPPING_H_