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 MeshConstruction<PointInT>
  {
    public:
      typedef boost::shared_ptr<OrganizedFastMesh<PointInT> > Ptr;
      typedef boost::shared_ptr<const OrganizedFastMesh<PointInT> > ConstPtr;

      using MeshConstruction<PointInT>::input_;
      using 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_squared_ (0.025f)
      , triangle_pixel_size_ (1)
      , triangulation_type_ (QUAD_MESH)
      , store_shadowed_faces_ (false)
      , cos_angle_tolerance_ (fabsf (cosf (pcl::deg2rad (12.5f))))
      {
        check_tree_ = false;
      };

      virtual ~OrganizedFastMesh () {};

      inline void
      setMaxEdgeLength (float max_edge_length)
      {
        max_edge_length_squared_ = max_edge_length * max_edge_length;
      };

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

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

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

    protected:
      float max_edge_length_squared_;

      int triangle_pixel_size_;

      TriangulationType triangulation_type_;

      bool store_shadowed_faces_;

      float cos_angle_tolerance_;

      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)
      {
        Eigen::Vector3f viewpoint = Eigen::Vector3f::Zero (); // TODO: allow for passing viewpoint information
        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 ();
        float cos_angle = dir_a.dot (dir_b) / (distance_to_points*distance_between_points);
        if (cos_angle != cos_angle)
          cos_angle = 1.0f;
        return (fabs (cos_angle) >= cos_angle_tolerance_);
        // TODO: check for both: angle almost 0/180 _and_ distance between points larger than noise level
      }

      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);
  };
}

#ifdef PCL_NO_PRECOMPILE
#include <pcl/surface/impl/organized_fast_mesh.hpp>
#endif

#endif  // PCL_SURFACE_ORGANIZED_FAST_MESH_H_