ear_clipping.h
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00001 /*
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00021  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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00034  * $Id: ear_clipping.h 4208 2012-02-03 00:38:09Z aichim $
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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_


pcl
Author(s): Open Perception
autogenerated on Mon Oct 6 2014 03:14:49