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_GET_BOUNDARY_H 00042 #define PCL_GEOMETRY_GET_BOUNDARY_H 00043 00044 #include <vector> 00045 00046 namespace pcl 00047 { 00048 namespace geometry 00049 { 00050 /** \brief Get a collection of boundary half-edges for the input mesh. 00051 * \param[in] mesh The input mesh. 00052 * \param[out] boundary_he_collection Collection of boundary half-edges. Each element in the vector is one connected boundary. The whole boundary is the union of all elements. 00053 * \param [in] expected_size If you already know the size of the longest boundary you can tell this here. Defaults to 3 (minimum possible boundary). 00054 * \author Martin Saelzle 00055 * \ingroup geometry 00056 */ 00057 template <class MeshT> void 00058 getBoundBoundaryHalfEdges (const MeshT& mesh, 00059 std::vector <typename MeshT::HalfEdgeIndices>& boundary_he_collection, 00060 const size_t expected_size = 3) 00061 { 00062 typedef MeshT Mesh; 00063 typedef typename Mesh::HalfEdgeIndex HalfEdgeIndex; 00064 typedef typename Mesh::HalfEdgeIndices HalfEdgeIndices; 00065 typedef typename Mesh::InnerHalfEdgeAroundFaceCirculator IHEAFC; 00066 00067 boundary_he_collection.clear (); 00068 00069 HalfEdgeIndices boundary_he; boundary_he.reserve (expected_size); 00070 std::vector <bool> visited (mesh.sizeEdges (), false); 00071 IHEAFC circ, circ_end; 00072 00073 for (HalfEdgeIndex i (0); i<HalfEdgeIndex (mesh.sizeHalfEdges ()); ++i) 00074 { 00075 if (mesh.isBoundary (i) && !visited [pcl::geometry::toEdgeIndex (i).get ()]) 00076 { 00077 boundary_he.clear (); 00078 00079 circ = mesh.getInnerHalfEdgeAroundFaceCirculator (i); 00080 circ_end = circ; 00081 do 00082 { 00083 visited [pcl::geometry::toEdgeIndex (circ.getTargetIndex ()).get ()] = true; 00084 boundary_he.push_back (circ.getTargetIndex ()); 00085 } while (++circ != circ_end); 00086 00087 boundary_he_collection.push_back (boundary_he); 00088 } 00089 } 00090 } 00091 00092 } // End namespace geometry 00093 } // End namespace pcl 00094 00095 #endif // PCL_GEOMETRY_GET_BOUNDARY_H