00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2010, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of Willow Garage, Inc. nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 * 00034 * $Id: ear_clipping.h 4208 2012-02-03 00:38:09Z aichim $ 00035 * 00036 */ 00037 00038 #ifndef PCL_SURFACE_EAR_CLIPPING_H_ 00039 #define PCL_SURFACE_EAR_CLIPPING_H_ 00040 00041 #include <pcl/point_types.h> 00042 #include <pcl/surface/processing.h> 00043 00044 namespace pcl 00045 { 00046 00053 class PCL_EXPORTS EarClipping : public MeshProcessing 00054 { 00055 public: 00056 using MeshProcessing::input_mesh_; 00057 using MeshProcessing::initCompute; 00059 EarClipping () : MeshProcessing (), points_ () 00060 { 00061 }; 00062 00063 protected: 00065 pcl::PointCloud<pcl::PointXYZ>::Ptr points_; 00066 00068 bool 00069 initCompute (); 00070 00074 void 00075 performProcessing (pcl::PolygonMesh &output); 00076 00081 void 00082 triangulate (const Vertices& vertices, PolygonMesh& output); 00083 00087 float 00088 area (const std::vector<uint32_t>& vertices); 00089 00096 bool 00097 isEar (int u, int v, int w, const std::vector<uint32_t>& vertices); 00098 00105 bool 00106 isInsideTriangle (const Eigen::Vector2f& u, 00107 const Eigen::Vector2f& v, 00108 const Eigen::Vector2f& w, 00109 const Eigen::Vector2f& p); 00110 00111 00116 float 00117 crossProduct (const Eigen::Vector2f& p1, const Eigen::Vector2f& p2) const 00118 { 00119 return p1[0]*p2[1] - p1[1]*p2[0]; 00120 } 00121 00122 }; 00123 00124 } 00125 00126 #endif // #ifndef PCL_SURFACE_EAR_CLIPPING_H_