41 #ifndef PCL_GEOMETRY_TRIANGLE_MESH_H 42 #define PCL_GEOMETRY_TRIANGLE_MESH_H 46 #include <pcl/geometry/mesh_base.h> 60 template <
class MeshTraitsT>
68 typedef boost::shared_ptr <Self>
Ptr;
69 typedef boost::shared_ptr <const Self>
ConstPtr;
134 const VertexIndex& idx_v_1,
135 const VertexIndex& idx_v_2,
136 const FaceData& face_data = FaceData (),
137 const EdgeData& edge_data = EdgeData (),
138 const HalfEdgeData& half_edge_data = HalfEdgeData ())
140 add_triangle_ [0] = idx_v_0;
141 add_triangle_ [1] = idx_v_1;
142 add_triangle_ [2] = idx_v_2;
144 return (this->addFaceImplBase (add_triangle_, face_data, edge_data, half_edge_data));
157 const FaceData& face_data = FaceData (),
158 const EdgeData& edge_data = EdgeData (),
159 const HalfEdgeData& half_edge_data = HalfEdgeData ())
161 if (vertices.size () != 4)
163 return (std::make_pair (FaceIndex (), FaceIndex ()));
167 return (this->addTrianglePair (vertices [0], vertices [1], vertices [2], vertices [3], face_data, edge_data, half_edge_data));
184 const VertexIndex& idx_v_1,
185 const VertexIndex& idx_v_2,
186 const VertexIndex& idx_v_3,
187 const FaceData& face_data = FaceData (),
188 const EdgeData& edge_data = EdgeData (),
189 const HalfEdgeData& half_edge_data = HalfEdgeData ())
195 FaceIndex idx_face_0 = this->addFace (idx_v_0, idx_v_1, idx_v_2, face_data);
196 FaceIndex idx_face_1 = this->addFace (idx_v_0, idx_v_2, idx_v_3, face_data);
200 return (std::make_pair (idx_face_0, idx_face_1));
202 else if (idx_face_1.
isValid ())
204 idx_face_0 = this->addFace (idx_v_0, idx_v_1, idx_v_2, face_data);
205 return (std::make_pair (idx_face_1, idx_face_0));
212 idx_face_0 = this->addFace (idx_v_1, idx_v_2, idx_v_3, face_data);
213 idx_face_1 = this->addFace (idx_v_0, idx_v_1, idx_v_3, face_data);
217 return (std::make_pair (idx_face_0, idx_face_1));
219 else if (idx_face_1.
isValid ())
221 idx_face_0 = this->addFace (idx_v_1, idx_v_2, idx_v_3, face_data);
222 return (std::make_pair (idx_face_1, idx_face_0));
225 if (!IsManifold::value)
227 return (std::make_pair (FaceIndex (), FaceIndex ()));
231 if (!Base::checkTopology1 (idx_v_0,idx_v_1, inner_he_atp_ [0], is_new_atp_ [0], IsManifold ()) ||
232 !Base::checkTopology1 (idx_v_1,idx_v_2, inner_he_atp_ [1], is_new_atp_ [1], IsManifold ()) ||
233 !Base::checkTopology1 (idx_v_2,idx_v_3, inner_he_atp_ [2], is_new_atp_ [2], IsManifold ()) ||
234 !Base::checkTopology1 (idx_v_3,idx_v_0, inner_he_atp_ [3], is_new_atp_ [3], IsManifold ()))
236 return (std::make_pair (FaceIndex (), FaceIndex ()));
240 if (!is_new_atp_ [0] && is_new_atp_ [1] && !is_new_atp_ [2] && is_new_atp_ [3])
242 return (this->connectTrianglePair (inner_he_atp_ [0], inner_he_atp_ [2], idx_v_0, idx_v_1, idx_v_2, idx_v_3, face_data, edge_data, half_edge_data));
244 else if (is_new_atp_ [0] && !is_new_atp_ [1] && is_new_atp_ [2] && !is_new_atp_ [3])
246 return (this->connectTrianglePair (inner_he_atp_ [1], inner_he_atp_ [3], idx_v_1, idx_v_2, idx_v_3, idx_v_0, face_data, edge_data, half_edge_data));
250 return (std::make_pair (FaceIndex (), FaceIndex ()));
261 addFaceImpl (const VertexIndices& vertices,
262 const FaceData& face_data,
263 const EdgeData& edge_data,
264 const HalfEdgeData& half_edge_data)
266 if (vertices.size () == 3)
267 return (this->addFaceImplBase (vertices, face_data, edge_data, half_edge_data));
269 return (FaceIndex ());
277 connectTrianglePair (
const HalfEdgeIndex& idx_he_ab,
278 const HalfEdgeIndex& idx_he_cd,
279 const VertexIndex& idx_v_a,
280 const VertexIndex& idx_v_b,
281 const VertexIndex& idx_v_c,
282 const VertexIndex& idx_v_d,
283 const FaceData& face_data,
284 const EdgeData& edge_data,
285 const HalfEdgeData& he_data)
288 const HalfEdgeIndex idx_he_bc = Base::addEdge (idx_v_b, idx_v_c, he_data, edge_data);
289 const HalfEdgeIndex idx_he_da = Base::addEdge (idx_v_d, idx_v_a, he_data, edge_data);
290 const HalfEdgeIndex idx_he_ca = Base::addEdge (idx_v_c, idx_v_a, he_data, edge_data);
292 const HalfEdgeIndex idx_he_cb = Base::getOppositeHalfEdgeIndex (idx_he_bc);
293 const HalfEdgeIndex idx_he_ad = Base::getOppositeHalfEdgeIndex (idx_he_da);
294 const HalfEdgeIndex idx_he_ac = Base::getOppositeHalfEdgeIndex (idx_he_ca);
297 const HalfEdgeIndex idx_he_ab_prev = Base::getPrevHalfEdgeIndex (idx_he_ab);
298 const HalfEdgeIndex idx_he_ab_next = Base::getNextHalfEdgeIndex (idx_he_ab);
300 const HalfEdgeIndex idx_he_cd_prev = Base::getPrevHalfEdgeIndex (idx_he_cd);
301 const HalfEdgeIndex idx_he_cd_next = Base::getNextHalfEdgeIndex (idx_he_cd);
304 Base::connectPrevNext (idx_he_ab_prev, idx_he_ad );
305 Base::connectPrevNext (idx_he_ad , idx_he_cd_next);
306 Base::connectPrevNext (idx_he_cd_prev, idx_he_cb );
307 Base::connectPrevNext (idx_he_cb , idx_he_ab_next);
310 Base::connectPrevNext (idx_he_ab, idx_he_bc);
311 Base::connectPrevNext (idx_he_bc, idx_he_ca);
312 Base::connectPrevNext (idx_he_ca, idx_he_ab);
314 Base::connectPrevNext (idx_he_ac, idx_he_cd);
315 Base::connectPrevNext (idx_he_cd, idx_he_da);
316 Base::connectPrevNext (idx_he_da, idx_he_ac);
319 Base::setOutgoingHalfEdgeIndex (idx_v_a, idx_he_ad );
320 Base::setOutgoingHalfEdgeIndex (idx_v_b, idx_he_ab_next);
321 Base::setOutgoingHalfEdgeIndex (idx_v_c, idx_he_cb );
322 Base::setOutgoingHalfEdgeIndex (idx_v_d, idx_he_cd_next);
325 HalfEdgeIndices inner_he_abc; inner_he_abc.reserve (3);
326 inner_he_abc.push_back (idx_he_ab);
327 inner_he_abc.push_back (idx_he_bc);
328 inner_he_abc.push_back (idx_he_ca);
330 HalfEdgeIndices inner_he_acd; inner_he_acd.reserve (3);
331 inner_he_acd.push_back (idx_he_ac);
332 inner_he_acd.push_back (idx_he_cd);
333 inner_he_acd.push_back (idx_he_da);
335 const FaceIndex idx_f_abc = Base::connectFace (inner_he_abc, face_data);
336 const FaceIndex idx_f_acd = Base::connectFace (inner_he_acd, face_data);
338 return (std::make_pair (idx_f_abc, idx_f_acd));
346 VertexIndices add_triangle_;
349 HalfEdgeIndices inner_he_atp_;
352 std::vector <bool> is_new_atp_;
356 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
361 #endif // PCL_GEOMETRY_TRIANGLE_MESH_H FaceIndexPair addTrianglePair(const VertexIndex &idx_v_0, const VertexIndex &idx_v_1, const VertexIndex &idx_v_2, const VertexIndex &idx_v_3, const FaceData &face_data=FaceData(), const EdgeData &edge_data=EdgeData(), const HalfEdgeData &half_edge_data=HalfEdgeData())
Add two triangles for the four given input vertices.
boost::shared_ptr< Self > Ptr
std::vector< FaceIndex > FaceIndices
Base::HasEdgeData HasEdgeData
Base::HasFaceData HasFaceData
MeshTraitsT::HalfEdgeData HalfEdgeData
boost::integral_constant< bool, !boost::is_same< VertexData, pcl::geometry::NoData >::value > HasVertexData
Base::EdgeDataCloud EdgeDataCloud
This file defines compatibility wrappers for low level I/O functions.
TriangleMesh< MeshTraitsT > Self
Circulates clockwise around a face and returns an index to the face of the outer half-edge (the targe...
Base::FaceIndex FaceIndex
Circulates counter-clockwise around a vertex and returns an index to the incoming half-edge (the targ...
Base::OutgoingHalfEdgeAroundVertexCirculator OutgoingHalfEdgeAroundVertexCirculator
Base::InnerHalfEdgeAroundFaceCirculator InnerHalfEdgeAroundFaceCirculator
Base::FaceIndices FaceIndices
boost::integral_constant< bool, !boost::is_same< HalfEdgeData, pcl::geometry::NoData >::value > HasHalfEdgeData
Base::VertexIndex VertexIndex
FaceIndexPair addTrianglePair(const VertexIndices &vertices, const FaceData &face_data=FaceData(), const EdgeData &edge_data=EdgeData(), const HalfEdgeData &half_edge_data=HalfEdgeData())
Add two triangles for the four given input vertices.
Base::HalfEdgeData HalfEdgeData
FaceIndex addFace(const VertexIndex &idx_v_0, const VertexIndex &idx_v_1, const VertexIndex &idx_v_2, const FaceData &face_data=FaceData(), const EdgeData &edge_data=EdgeData(), const HalfEdgeData &half_edge_data=HalfEdgeData())
Add a triangle to the mesh.
Index used to access elements in the half-edge mesh.
std::vector< HalfEdgeIndex > HalfEdgeIndices
MeshTraitsT::IsManifold IsManifold
Base::HalfEdgeIndices HalfEdgeIndices
Base::VertexIndices VertexIndices
MeshTraitsT::EdgeData EdgeData
pcl::geometry::MeshBase< TriangleMesh< MeshTraitsT >, MeshTraitsT, TriangleMeshTag > Base
Base::FaceDataCloud FaceDataCloud
Base::HasHalfEdgeData HasHalfEdgeData
Circulates counter-clockwise around a vertex and returns an index to the terminating vertex of the ou...
Index used to access elements in the half-edge mesh.
Index used to access elements in the half-edge mesh.
Base::VertexAroundFaceCirculator VertexAroundFaceCirculator
Circulates clockwise around a face and returns an index to the terminating vertex of the inner half-e...
Base::FaceAroundFaceCirculator FaceAroundFaceCirculator
Index used to access elements in the half-edge mesh.
Base::FaceAroundVertexCirculator FaceAroundVertexCirculator
Circulates counter-clockwise around a vertex and returns an index to the outgoing half-edge (the targ...
Base::OuterHalfEdgeAroundFaceCirculator OuterHalfEdgeAroundFaceCirculator
MeshTraitsT::FaceData FaceData
Base::EdgeIndices EdgeIndices
Base::VertexData VertexData
boost::integral_constant< bool, !boost::is_same< FaceData, pcl::geometry::NoData >::value > HasFaceData
std::vector< EdgeIndex > EdgeIndices
Base::HalfEdgeIndex HalfEdgeIndex
Base::HasVertexData HasVertexData
MeshTraitsT::VertexData VertexData
boost::integral_constant< bool, !boost::is_same< EdgeData, pcl::geometry::NoData >::value > HasEdgeData
Base::IsManifold IsManifold
Base::EdgeIndex EdgeIndex
Circulates clockwise around a face and returns an index to the inner half-edge (the target)...
Base::VertexAroundVertexCirculator VertexAroundVertexCirculator
Base::HalfEdgeDataCloud HalfEdgeDataCloud
boost::shared_ptr< const Self > ConstPtr
Circulates clockwise around a face and returns an index to the outer half-edge (the target)...
Circulates counter-clockwise around a vertex and returns an index to the face of the outgoing half-ed...
Base class for the half-edge mesh.
Half-edge mesh that can only store triangles.
Base::IncomingHalfEdgeAroundVertexCirculator IncomingHalfEdgeAroundVertexCirculator
Base::VertexDataCloud VertexDataCloud
std::pair< FaceIndex, FaceIndex > FaceIndexPair
std::vector< VertexIndex > VertexIndices
bool isValid() const
Returns true if the index is valid.
TriangleMesh()
Constructor.
Tag describing the type of the mesh.