Point Cloud Library (PCL)  1.10.0-dev
mesh_conversion.h
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40 
41 #pragma once
42 
43 #include <pcl/PolygonMesh.h>
44 #include <pcl/conversions.h>
45 
46 namespace pcl
47 {
48  namespace geometry
49  {
50  /** \brief Convert a half-edge mesh to a face-vertex mesh.
51  * \param[in] half_edge_mesh The input mesh.
52  * \param[out] face_vertex_mesh The output mesh.
53  * \author Martin Saelzle
54  * \ingroup geometry
55  */
56  template <class HalfEdgeMeshT> void
57  toFaceVertexMesh (const HalfEdgeMeshT& half_edge_mesh, pcl::PolygonMesh& face_vertex_mesh)
58  {
59  using HalfEdgeMesh = HalfEdgeMeshT;
60  using VAFC = typename HalfEdgeMesh::VertexAroundFaceCirculator;
61  using FaceIndex = typename HalfEdgeMesh::FaceIndex;
62 
63  pcl::Vertices polygon;
64  pcl::toPCLPointCloud2 (half_edge_mesh.getVertexDataCloud (), face_vertex_mesh.cloud);
65 
66  face_vertex_mesh.polygons.reserve (half_edge_mesh.sizeFaces ());
67  for (std::size_t i=0; i<half_edge_mesh.sizeFaces (); ++i)
68  {
69  VAFC circ = half_edge_mesh.getVertexAroundFaceCirculator (FaceIndex (i));
70  const VAFC circ_end = circ;
71  polygon.vertices.clear ();
72  do
73  {
74  polygon.vertices.push_back (circ.getTargetIndex ().get ());
75  } while (++circ != circ_end);
76  face_vertex_mesh.polygons.push_back (polygon);
77  }
78  }
79 
80  /** \brief Convert a face-vertex mesh to a half-edge mesh.
81  * \param[in] face_vertex_mesh The input mesh.
82  * \param[out] half_edge_mesh The output mesh. It must have data associated with the vertices.
83  * \return The number of faces that could NOT be added to the half-edge mesh.
84  * \author Martin Saelzle
85  * \ingroup geometry
86  */
87  template <class HalfEdgeMeshT> int
88  toHalfEdgeMesh (const pcl::PolygonMesh& face_vertex_mesh, HalfEdgeMeshT& half_edge_mesh)
89  {
90  using HalfEdgeMesh = HalfEdgeMeshT;
91  using VertexDataCloud = typename HalfEdgeMesh::VertexDataCloud;
92  using VertexIndices = typename HalfEdgeMesh::VertexIndices;
93 
94  static_assert (HalfEdgeMesh::HasVertexData::value, "Output mesh must have data associated with the vertices!");
95 
96  VertexDataCloud vertices;
97  pcl::fromPCLPointCloud2 (face_vertex_mesh.cloud, vertices);
98 
99  half_edge_mesh.reserveVertices (vertices.size ());
100  half_edge_mesh.reserveEdges (3 * face_vertex_mesh.polygons.size ());
101  half_edge_mesh.reserveFaces ( face_vertex_mesh.polygons.size ());
102 
103  for (const auto &vertex : vertices)
104  {
105  half_edge_mesh.addVertex (vertex);
106  }
107 
108  assert (half_edge_mesh.sizeVertices () == vertices.size ());
109 
110  int count_not_added = 0;
111  VertexIndices vi;
112  vi.reserve (3); // Minimum number (triangle)
113  for (const auto &polygon : face_vertex_mesh.polygons)
114  {
115  vi.clear ();
116  for (const unsigned int &vertex : polygon.vertices)
117  {
118  vi.emplace_back (vertex);
119  }
120 
121  if (!half_edge_mesh.addFace (vi).isValid ())
122  {
123  ++count_not_added;
124  }
125  }
126 
127  return (count_not_added);
128  }
129  } // End namespace geometry
130 } // End namespace pcl
void fromPCLPointCloud2(const pcl::PCLPointCloud2 &msg, pcl::PointCloud< PointT > &cloud, const MsgFieldMap &field_map)
Convert a PCLPointCloud2 binary data blob into a pcl::PointCloud<T> object using a field_map...
Definition: conversions.h:168
int toHalfEdgeMesh(const pcl::PolygonMesh &face_vertex_mesh, HalfEdgeMeshT &half_edge_mesh)
Convert a face-vertex mesh to a half-edge mesh.
std::vector< std::uint32_t > vertices
Definition: Vertices.h:19
void toFaceVertexMesh(const HalfEdgeMeshT &half_edge_mesh, pcl::PolygonMesh &face_vertex_mesh)
Convert a half-edge mesh to a face-vertex mesh.
This file defines compatibility wrappers for low level I/O functions.
Definition: convolution.h:45
Describes a set of vertices in a polygon mesh, by basically storing an array of indices.
Definition: Vertices.h:14
Index used to access elements in the half-edge mesh.
Definition: mesh_indices.h:478
std::vector< ::pcl::Vertices > polygons
Definition: PolygonMesh.h:24
::pcl::PCLPointCloud2 cloud
Definition: PolygonMesh.h:22
void toPCLPointCloud2(const pcl::PointCloud< PointT > &cloud, pcl::PCLPointCloud2 &msg)
Convert a pcl::PointCloud<T> object to a PCLPointCloud2 binary data blob.
Definition: conversions.h:241