triangulation.h

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#ifndef NURBS_TRIANGULATION_H
#define NURBS_TRIANGULATION_H

#include <pcl/pcl_exports.h>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl/surface/3rdparty/opennurbs/opennurbs.h>
#include <pcl/PolygonMesh.h>

#include <pcl/surface/on_nurbs/nurbs_data.h>

namespace pcl
{
  namespace on_nurbs
  {

    class PCL_EXPORTS Triangulation
    {
      protected:
        static void
        createIndices (std::vector<pcl::Vertices> &vertices, unsigned vidx, unsigned segX, unsigned segY);

        static void
        createVertices (pcl::PointCloud<pcl::PointXYZ>::Ptr &cloud, float x0, float y0, float z0, float width,
                        float height, unsigned segX, unsigned segY);

      public:
        static bool
        isInside(const ON_NurbsCurve &curve, const pcl::PointXYZ &v);

        //      /** \brief Converts an NurbsObject to a pcl::PolygonMesh by sampling all NURBS according to the resolution specified.
        //       *  \param[in] object The NURBS object.
        //       *  \param[out] mesh The pcl::PolygonMesh
        //       *  \param[in] resolution mesh resolution (number of vertices along each of the two dimensions of the surface. */
        //      static void
        //      convertObject2PolygonMesh (const NurbsObject &object, PolygonMesh &mesh, unsigned resolution);

        static void
        convertSurface2PolygonMesh (const ON_NurbsSurface &nurbs, PolygonMesh &mesh, unsigned resolution);

        static void
        convertTrimmedSurface2PolygonMesh (const ON_NurbsSurface &nurbs, const ON_NurbsCurve &curve, PolygonMesh &mesh,
                                           unsigned resolution);
        static void
        convertTrimmedSurface2PolygonMesh (const ON_NurbsSurface &nurbs, const ON_NurbsCurve &curve, PolygonMesh &mesh,
                                           unsigned resolution, vector_vec3d &start, vector_vec3d &end);

        static void
        convertSurface2Vertices (const ON_NurbsSurface &nurbs, pcl::PointCloud<pcl::PointXYZ>::Ptr cloud,
                                 std::vector<pcl::Vertices> &vertices, unsigned resolution);

        static void
        convertCurve2PointCloud (const ON_NurbsCurve &nurbs, pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud,
                                 unsigned resolution);

        static void
        convertCurve2PointCloud (const ON_NurbsCurve &curve, const ON_NurbsSurface &surf,
                                 pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud, unsigned resolution);

    };
  }
}

#endif