pcl::EarClipping Class Reference

The ear clipping triangulation algorithm. The code is inspired by Flavien Brebion implementation, which is in n^3 and does not handle holes. More...

#include <ear_clipping.h>

Inheritance diagram for pcl::EarClipping:

List of all members.

Public Member Functions
	EarClipping ()
	Empty constructor.
Protected Member Functions
float	area (const std::vector< uint32_t > &vertices)
	Compute the signed area of a polygon.
float	crossProduct (const Eigen::Vector2f &p1, const Eigen::Vector2f &p2) const
	Compute the cross product between 2D vectors.
bool	initCompute ()
	This method should get called before starting the actual computation.
bool	isEar (int u, int v, int w, const std::vector< uint32_t > &vertices)
	Check if the triangle (u,v,w) is an ear.
bool	isInsideTriangle (const Eigen::Vector2f &u, const Eigen::Vector2f &v, const Eigen::Vector2f &w, const Eigen::Vector2f &p)
	Check if p is inside the triangle (u,v,w).
void	performProcessing (pcl::PolygonMesh &output)
	The actual surface reconstruction method.
void	triangulate (const Vertices &vertices, PolygonMesh &output)
	Triangulate one polygon.
Protected Attributes
pcl::PointCloud< pcl::PointXYZ > ::Ptr	points_
	a Pointer to the point cloud data.

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Detailed Description

The ear clipping triangulation algorithm. The code is inspired by Flavien Brebion implementation, which is in n^3 and does not handle holes.

Author:

Nicolas Burrus

Definition at line 53 of file ear_clipping.h.

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Constructor & Destructor Documentation

pcl::EarClipping::EarClipping

(

)

[inline]

Empty constructor.

Definition at line 59 of file ear_clipping.h.

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Member Function Documentation

float pcl::EarClipping::area

(

const std::vector< uint32_t > &

vertices

)

[protected]

Compute the signed area of a polygon.

Parameters:

[in]

vertices

the vertices representing the polygon

Definition at line 110 of file ear_clipping.cpp.

float pcl::EarClipping::crossProduct	(	const Eigen::Vector2f &	p1,
		const Eigen::Vector2f &	p2
	)		const [inline, protected]

Compute the cross product between 2D vectors.

Parameters:

[in]	p1	the first 2D vector
[in]	p2	the first 2D vector

Definition at line 117 of file ear_clipping.h.

bool pcl::EarClipping::initCompute

(

)

[protected, virtual]

This method should get called before starting the actual computation.

Reimplemented from pcl::MeshProcessing.

Definition at line 44 of file ear_clipping.cpp.

bool pcl::EarClipping::isEar	(	int	u,
		int	v,
		int	w,
		const std::vector< uint32_t > &	vertices
	)		[protected]

Check if the triangle (u,v,w) is an ear.

Parameters:

[in]	u	the first triangle vertex
[in]	v	the second triangle vertex
[in]	w	the third triangle vertex
[in]	vertices	a set of input vertices

Definition at line 130 of file ear_clipping.cpp.

bool pcl::EarClipping::isInsideTriangle	(	const Eigen::Vector2f &	u,
		const Eigen::Vector2f &	v,
		const Eigen::Vector2f &	w,
		const Eigen::Vector2f &	p
	)		[protected]

Check if p is inside the triangle (u,v,w).

Parameters:

[in]	u	the first triangle vertex
[in]	v	the second triangle vertex
[in]	w	the third triangle vertex
[in]	p	the point to check

Definition at line 166 of file ear_clipping.cpp.

void pcl::EarClipping::performProcessing

(

pcl::PolygonMesh &

output

)

[protected, virtual]

The actual surface reconstruction method.

Parameters:

[out]

output

the output polygonal mesh

Implements pcl::MeshProcessing.

Definition at line 57 of file ear_clipping.cpp.

void pcl::EarClipping::triangulate	(	const Vertices &	vertices,
		PolygonMesh &	output
	)		[protected]

Triangulate one polygon.

Parameters:

[in]	vertices	the set of vertices
[out]	output	the resultant polygonal mesh

Definition at line 67 of file ear_clipping.cpp.

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Member Data Documentation

pcl::PointCloud<pcl::PointXYZ>::Ptr pcl::EarClipping::points_ [protected]

a Pointer to the point cloud data.

Definition at line 61 of file ear_clipping.h.

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The documentation for this class was generated from the following files:

• ear_clipping.h
• ear_clipping.cpp