ear_clipping_patched.h

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// -*- mode: c++ -*-
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#ifndef JSK_PCL_ROS_EAR_CLIPPING_PATCHED_H_
#define JSK_PCL_ROS_EAR_CLIPPING_PATCHED_H_

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

namespace pcl
{

  class PCL_EXPORTS EarClippingPatched : public MeshProcessing
  {
    public:
      typedef boost::shared_ptr<EarClippingPatched> Ptr;
      typedef boost::shared_ptr<const EarClippingPatched> ConstPtr;

      using MeshProcessing::input_mesh_;
      using MeshProcessing::initCompute;
      EarClippingPatched () : MeshProcessing (), points_ ()
      { 
      };

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

      bool
      initCompute ();

      void
      performProcessing (pcl::PolygonMesh &output);

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

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

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

      bool
      isInsideTriangle (const Eigen::Vector3f& u,
                        const Eigen::Vector3f& v,
                        const Eigen::Vector3f& w,
                        const Eigen::Vector3f& p);

      float
      crossProduct (const Eigen::Vector2f& p1, const Eigen::Vector2f& p2) const
      {
        return p1[0]*p2[1] - p1[1]*p2[0];
      }

      bool
      intersect (const Eigen::Vector3f& p0,
                 const Eigen::Vector3f& p1,
                 const Eigen::Vector3f& p2,
                 const Eigen::Vector3f& p3);
  };

}


#endif