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_patched.h>

Inheritance diagram for pcl::EarClippingPatched:

[legend]

Public Types
typedef boost::shared_ptr< const EarClippingPatched >	ConstPtr

typedef boost::shared_ptr< EarClippingPatched >	Ptr

Public Member Functions
	EarClippingPatched ()
	Empty constructor. More...

Protected Member Functions
float	crossProduct (const Eigen::Vector2f &p1, const Eigen::Vector2f &p2) const
	Compute the cross product between 2D vectors. More...

bool	initCompute ()
	This method should get called before starting the actual computation. More...

bool	intersect (const Eigen::Vector3f &p0, const Eigen::Vector3f &p1, const Eigen::Vector3f &p2, const Eigen::Vector3f &p3)
	Check if two line segments intersect by themselves. More...

bool	isEar (int u, int v, int w, const std::vector< uint32_t > &vertices)
	Check if the triangle (u,v,w) is an ear. More...

bool	isInsideTriangle (const Eigen::Vector3f &u, const Eigen::Vector3f &v, const Eigen::Vector3f &w, const Eigen::Vector3f &p)
	Check if p is inside the triangle (u,v,w). More...

void	performProcessing (pcl::PolygonMesh &output)
	The actual surface reconstruction method. More...

void	triangulate (const Vertices &vertices, PolygonMesh &output)
	Triangulate one polygon. More...

size_t	triangulateClockwiseVertices (std::vector< uint32_t > &vertices, PolygonMesh &output)
	Triangulate one polygon, assume the vertices are clockwise. More...

Protected Attributes
pcl::PointCloud< pcl::PointXYZ >::Ptr	points_
	a Pointer to the point cloud data. More...

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 51 of file ear_clipping_patched.h.

Member Typedef Documentation

typedef boost::shared_ptr<const EarClippingPatched> pcl::EarClippingPatched::ConstPtr

Definition at line 55 of file ear_clipping_patched.h.

typedef boost::shared_ptr<EarClippingPatched> pcl::EarClippingPatched::Ptr

Definition at line 54 of file ear_clipping_patched.h.

Constructor & Destructor Documentation

pcl::EarClippingPatched::EarClippingPatched ( )

inline

Empty constructor.

Definition at line 60 of file ear_clipping_patched.h.

Member Function Documentation

float pcl::EarClippingPatched::crossProduct	(	const Eigen::Vector2f &	p1,
		const Eigen::Vector2f &	p2
	)		const

inlineprotected

Compute the cross product between 2D vectors.

Parameters

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

Definition at line 118 of file ear_clipping_patched.h.

bool pcl::EarClippingPatched::initCompute ( )

protected

This method should get called before starting the actual computation.

Definition at line 43 of file ear_clipping_patched.cpp.

bool pcl::EarClippingPatched::intersect	(	const Eigen::Vector3f &	p0,
		const Eigen::Vector3f &	p1,
		const Eigen::Vector3f &	p2,
		const Eigen::Vector3f &	p3
	)

protected

Check if two line segments intersect by themselves.

Parameters

[in]	p0	an end of the first line segment
[in]	p1	the other end of the first line segment
[in]	p2	an end of the second line segment
[in]	p3	the other end of the second line segment

Definition at line 211 of file ear_clipping_patched.cpp.

bool pcl::EarClippingPatched::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_patched.cpp.

bool pcl::EarClippingPatched::isInsideTriangle	(	const Eigen::Vector3f &	u,
		const Eigen::Vector3f &	v,
		const Eigen::Vector3f &	w,
		const Eigen::Vector3f &	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 182 of file ear_clipping_patched.cpp.

void pcl::EarClippingPatched::performProcessing ( pcl::PolygonMesh & output )

protected

The actual surface reconstruction method.

Parameters

[out] output the output polygonal mesh

Definition at line 56 of file ear_clipping_patched.cpp.

void pcl::EarClippingPatched::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 66 of file ear_clipping_patched.cpp.

size_t pcl::EarClippingPatched::triangulateClockwiseVertices	(	std::vector< uint32_t > &	vertices,
		PolygonMesh &	output
	)

protected

Triangulate one polygon, assume the vertices are clockwise.

Parameters

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

Definition at line 95 of file ear_clipping_patched.cpp.

Member Data Documentation

pcl::PointCloud<pcl::PointXYZ>::Ptr pcl::EarClippingPatched::points_

protected

a Pointer to the point cloud data.

Definition at line 62 of file ear_clipping_patched.h.

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

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation