ear_clipping.h

Go to the documentation of this file.

/*
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2010, Willow Garage, Inc.
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of Willow Garage, Inc. nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 *
 * $Id: ear_clipping.h 3732 2011-12-31 00:56:15Z rusu $
 *
 */

#ifndef PCL_SURFACE_EAR_CLIPPING_H_
#define PCL_SURFACE_EAR_CLIPPING_H_

#include <pcl/point_types.h>
#include <pcl/surface/processing.h>

namespace pcl
{

  class PCL_EXPORTS EarClipping : public MeshProcessing
  {
    public:
      using MeshProcessing::input_mesh_;
      using MeshProcessing::initCompute;
      EarClipping () : MeshProcessing (), points_ ()
      { 
      };

    protected:
      pcl::PointCloud<pcl::PointXYZ>::Ptr points_;

      bool
      initCompute ();

      void
      performProcessing (pcl::PolygonMesh &output);

      void
      triangulate (const Vertices& vertices, PolygonMesh& output);

      float
      area (const std::vector<uint32_t>& vertices);

      bool
      isEar (int u, int v, int w, const std::vector<uint32_t>& vertices);

      bool
      isInsideTriangle (const PointXY& u, const PointXY& v, const PointXY& w, const PointXY& p);

      inline void
      toPointXY (const PointXYZ& p_in, PointXY &p_out) const
      {
        p_out.x = p_in.x;
        p_out.y = p_in.y;
      }

      inline float
      crossProduct (const PointXY& p1, const PointXY& p2) const
      {
        return ((p1.x*p2.y) - (p1.y*p2.x));
      }

      inline void
      difference (const PointXY& p1, const PointXY& p2, PointXY &r) const
      {
        r.x = p1.x - p2.x;
        r.y = p1.y - p2.y;
      }
  };

}

#endif  // #ifndef PCL_SURFACE_EAR_CLIPPING_H_