organized_fast_mesh.h

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#ifndef PCL_SURFACE_ORGANIZED_FAST_MESH_H_
#define PCL_SURFACE_ORGANIZED_FAST_MESH_H_

#include <pcl/common/angles.h>
#include <pcl/surface/reconstruction.h>

namespace pcl
{

  template <typename PointInT>
  class OrganizedFastMesh : public pcl::MeshConstruction<PointInT>
  {
    public:
      typedef boost::shared_ptr<OrganizedFastMesh<PointInT> > Ptr;
      typedef boost::shared_ptr<const OrganizedFastMesh<PointInT> > ConstPtr;

      using pcl::MeshConstruction<PointInT>::input_;
      using pcl::MeshConstruction<PointInT>::check_tree_;

      typedef typename pcl::PointCloud<PointInT>::Ptr PointCloudPtr;

      typedef std::vector<pcl::Vertices> Polygons;

      enum TriangulationType
      {
        TRIANGLE_RIGHT_CUT,     // _always_ "cuts" a quad from top left to bottom right
        TRIANGLE_LEFT_CUT,      // _always_ "cuts" a quad from top right to bottom left
        TRIANGLE_ADAPTIVE_CUT,  // "cuts" where possible and prefers larger differences in 'z' direction
        QUAD_MESH               // create a simple quad mesh
      };

      OrganizedFastMesh ()
      : max_edge_length_a_ (0.0f)
      , max_edge_length_b_ (0.0f)
      , max_edge_length_c_ (0.0f)
      , max_edge_length_set_ (false)
      , max_edge_length_dist_dependent_ (false)
      , triangle_pixel_size_rows_ (1)
      , triangle_pixel_size_columns_ (1)
      , triangulation_type_ (QUAD_MESH)
      , viewpoint_ (Eigen::Vector3f::Zero ())
      , store_shadowed_faces_ (false)
      , cos_angle_tolerance_ (fabsf (cosf (pcl::deg2rad (12.5f))))
      , distance_tolerance_ (-1.0f)
      , distance_dependent_ (false)
      , use_depth_as_distance_(false)
      {
        check_tree_ = false;
      };

      virtual ~OrganizedFastMesh () {};

      inline void
      setMaxEdgeLength (float a, float b = 0.0f, float c = 0.0f)
      {
        max_edge_length_a_ = a;
        max_edge_length_b_ = b;
        max_edge_length_c_ = c;
        if ((max_edge_length_a_ + max_edge_length_b_ + max_edge_length_c_) > std::numeric_limits<float>::min())
          max_edge_length_set_ = true;
        else
          max_edge_length_set_ = false;
      };

      inline void
      unsetMaxEdgeLength ()
      {
        max_edge_length_set_  = false;
      }

      inline void
      setTrianglePixelSize (int triangle_size)
      {
        setTrianglePixelSizeRows (triangle_size);
        setTrianglePixelSizeColumns (triangle_size);
      }

      inline void
      setTrianglePixelSizeRows (int triangle_size)
      {
        triangle_pixel_size_rows_ = std::max (1, (triangle_size - 1));
      }

      inline void
      setTrianglePixelSizeColumns (int triangle_size)
      {
        triangle_pixel_size_columns_ = std::max (1, (triangle_size - 1));
      }

      inline void
      setTriangulationType (TriangulationType type)
      {
        triangulation_type_ = type;
      }

      inline void setViewpoint (const Eigen::Vector3f& viewpoint)
      {
        viewpoint_ = viewpoint;
      }

      const inline Eigen::Vector3f& getViewpoint () const
      {
        return viewpoint_;
      }

      inline void
      storeShadowedFaces (bool enable)
      {
        store_shadowed_faces_ = enable;
      }

      inline void
      setAngleTolerance(float angle_tolerance)
      {
        if (angle_tolerance > 0)
          cos_angle_tolerance_ = fabsf (cosf (angle_tolerance));
        else
          cos_angle_tolerance_ = -1.0f;
      }


      inline void setDistanceTolerance(float distance_tolerance, bool depth_dependent = false)
      {
        distance_tolerance_ = distance_tolerance;
        if (distance_tolerance_ < 0)
          return;

        distance_dependent_ = depth_dependent;
        if (!distance_dependent_)
          distance_tolerance_ *= distance_tolerance_;
      }

      inline void useDepthAsDistance(bool enable)
      {
        use_depth_as_distance_ = enable;
      }

    protected:
      float max_edge_length_a_;
      float max_edge_length_b_;
      float max_edge_length_c_;
      bool max_edge_length_set_;

      bool max_edge_length_dist_dependent_;

      int triangle_pixel_size_rows_;

      int triangle_pixel_size_columns_;

      TriangulationType triangulation_type_;

      Eigen::Vector3f viewpoint_;

      bool store_shadowed_faces_;

      float cos_angle_tolerance_;

      float distance_tolerance_;

      bool distance_dependent_;

      bool use_depth_as_distance_;


      void
      reconstructPolygons (std::vector<pcl::Vertices>& polygons);

      virtual void
      performReconstruction (std::vector<pcl::Vertices> &polygons);

      void
      performReconstruction (pcl::PolygonMesh &output);

      inline void
      addTriangle (int a, int b, int c, int idx, std::vector<pcl::Vertices>& polygons)
      {
        assert (idx < static_cast<int> (polygons.size ()));
        polygons[idx].vertices.resize (3);
        polygons[idx].vertices[0] = a;
        polygons[idx].vertices[1] = b;
        polygons[idx].vertices[2] = c;
      }

      inline void
      addQuad (int a, int b, int c, int d, int idx, std::vector<pcl::Vertices>& polygons)
      {
        assert (idx < static_cast<int> (polygons.size ()));
        polygons[idx].vertices.resize (4);
        polygons[idx].vertices[0] = a;
        polygons[idx].vertices[1] = b;
        polygons[idx].vertices[2] = c;
        polygons[idx].vertices[3] = d;
      }

      inline void
      resetPointData (const int &point_index, pcl::PolygonMesh &mesh, const float &value = 0.0f,
                      int field_x_idx = 0, int field_y_idx = 1, int field_z_idx = 2)
      {
        float new_value = value;
        memcpy (&mesh.cloud.data[point_index * mesh.cloud.point_step + mesh.cloud.fields[field_x_idx].offset], &new_value, sizeof (float));
        memcpy (&mesh.cloud.data[point_index * mesh.cloud.point_step + mesh.cloud.fields[field_y_idx].offset], &new_value, sizeof (float));
        memcpy (&mesh.cloud.data[point_index * mesh.cloud.point_step + mesh.cloud.fields[field_z_idx].offset], &new_value, sizeof (float));
      }

      inline bool
      isShadowed (const PointInT& point_a, const PointInT& point_b)
      {
        bool valid = true;

        Eigen::Vector3f dir_a = viewpoint_ - point_a.getVector3fMap ();
        Eigen::Vector3f dir_b = point_b.getVector3fMap () - point_a.getVector3fMap ();
        float distance_to_points = dir_a.norm ();
        float distance_between_points = dir_b.norm ();

        if (cos_angle_tolerance_ > 0)
        {
          float cos_angle = dir_a.dot (dir_b) / (distance_to_points*distance_between_points);
          if (cos_angle != cos_angle)
            cos_angle = 1.0f;
          bool check_angle = fabs (cos_angle) >= cos_angle_tolerance_;

          bool check_distance = true;
          if (check_angle && (distance_tolerance_ > 0))
          {
            float dist_thresh = distance_tolerance_;
            if (distance_dependent_)
            {
              float d = distance_to_points;
              if (use_depth_as_distance_)
                d = std::max(point_a.z, point_b.z);
              dist_thresh *= d*d;
              dist_thresh *= dist_thresh;  // distance_tolerance_ is already squared if distance_dependent_ is false.
            }
            check_distance = (distance_between_points > dist_thresh);
          }
          valid = !(check_angle && check_distance);
        }

        // check if max. edge length is not exceeded
        if (max_edge_length_set_)
        {
          float dist = (use_depth_as_distance_ ? std::max(point_a.z, point_b.z) : distance_to_points);
          float dist_thresh = max_edge_length_a_;
          if (fabs(max_edge_length_b_) > std::numeric_limits<float>::min())
            dist_thresh += max_edge_length_b_ * dist;
          if (fabs(max_edge_length_c_) > std::numeric_limits<float>::min())
            dist_thresh += max_edge_length_c_ * dist * dist;
          valid = (distance_between_points <= dist_thresh);
        }

        return !valid;
      }

      inline bool
      isValidTriangle (const int& a, const int& b, const int& c)
      {
        if (!pcl::isFinite (input_->points[a])) return (false);
        if (!pcl::isFinite (input_->points[b])) return (false);
        if (!pcl::isFinite (input_->points[c])) return (false);
        return (true);
      }

      inline bool
      isShadowedTriangle (const int& a, const int& b, const int& c)
      {
        if (isShadowed (input_->points[a], input_->points[b])) return (true);
        if (isShadowed (input_->points[b], input_->points[c])) return (true);
        if (isShadowed (input_->points[c], input_->points[a])) return (true);
        return (false);
      }

      inline bool
      isValidQuad (const int& a, const int& b, const int& c, const int& d)
      {
        if (!pcl::isFinite (input_->points[a])) return (false);
        if (!pcl::isFinite (input_->points[b])) return (false);
        if (!pcl::isFinite (input_->points[c])) return (false);
        if (!pcl::isFinite (input_->points[d])) return (false);
        return (true);
      }

      inline bool
      isShadowedQuad (const int& a, const int& b, const int& c, const int& d)
      {
        if (isShadowed (input_->points[a], input_->points[b])) return (true);
        if (isShadowed (input_->points[b], input_->points[c])) return (true);
        if (isShadowed (input_->points[c], input_->points[d])) return (true);
        if (isShadowed (input_->points[d], input_->points[a])) return (true);
        return (false);
      }

      void
      makeQuadMesh (std::vector<pcl::Vertices>& polygons);

      void
      makeRightCutMesh (std::vector<pcl::Vertices>& polygons);

      void
      makeLeftCutMesh (std::vector<pcl::Vertices>& polygons);

      void
      makeAdaptiveCutMesh (std::vector<pcl::Vertices>& polygons);
  };
}

#include <pcl18/surface/impl/organized_fast_mesh.hpp>

#endif  // PCL_SURFACE_ORGANIZED_FAST_MESH_H_