ear_clipping_patched.h
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35 
36 #ifndef JSK_PCL_ROS_EAR_CLIPPING_PATCHED_H_
37 #define JSK_PCL_ROS_EAR_CLIPPING_PATCHED_H_
38 
39 #include <pcl/point_types.h>
40 #include <pcl/surface/processing.h>
41 
42 namespace pcl
43 {
44 
51  class PCL_EXPORTS EarClippingPatched : public MeshProcessing
52  {
53  public:
56 
57  using MeshProcessing::input_mesh_;
58  using MeshProcessing::initCompute;
60  EarClippingPatched () : MeshProcessing (), points_ ()
61  {
62  };
63 
64  protected:
66  pcl::PointCloud<pcl::PointXYZ>::Ptr points_;
67 
69  bool
70  initCompute ();
71 
75  void
76  performProcessing (pcl::PolygonMesh &output);
77 
82  void
83  triangulate (const Vertices& vertices, PolygonMesh& output);
84 
89  size_t
90  triangulateClockwiseVertices (std::vector<uint32_t>& vertices, PolygonMesh& output);
91 
98  bool
99  isEar (int u, int v, int w, const std::vector<uint32_t>& vertices);
100 
107  bool
108  isInsideTriangle (const Eigen::Vector3f& u,
109  const Eigen::Vector3f& v,
110  const Eigen::Vector3f& w,
111  const Eigen::Vector3f& p);
112 
117  float
118  crossProduct (const Eigen::Vector2f& p1, const Eigen::Vector2f& p2) const
119  {
120  return p1[0]*p2[1] - p1[1]*p2[0];
121  }
122 
129  bool
130  intersect (const Eigen::Vector3f& p0,
131  const Eigen::Vector3f& p1,
132  const Eigen::Vector3f& p2,
133  const Eigen::Vector3f& p3);
134  };
135 
136 }
137 
138 
139 #endif
EarClippingPatched()
Empty constructor.
boost::shared_ptr< const EarClippingPatched > ConstPtr
The ear clipping triangulation algorithm. The code is inspired by Flavien Brebion implementation...
boost::shared_ptr< EarClippingPatched > Ptr
pcl::PointCloud< pcl::PointXYZ >::Ptr points_
a Pointer to the point cloud data.
float crossProduct(const Eigen::Vector2f &p1, const Eigen::Vector2f &p2) const
Compute the cross product between 2D vectors.
std::vector< Eigen::Vector3f, Eigen::aligned_allocator< Eigen::Vector3f > > Vertices
Definition: types.h:48


jsk_recognition_utils
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autogenerated on Wed May 27 2020 03:59:48