Point Cloud Library (PCL)  1.9.1-dev
polygon_mesh.h
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40 
41 #pragma once
42 
43 #include <pcl/pcl_macros.h>
44 #include <pcl/geometry/mesh_base.h>
45 
46 namespace pcl
47 {
48  namespace geometry
49  {
50  /** \brief Tag describing the type of the mesh. */
51  struct PolygonMeshTag {};
52 
53  /** \brief General half-edge mesh that can store any polygon with a minimum number of vertices of 3.
54  * \tparam MeshTraitsT Please have a look at pcl::geometry::DefaultMeshTraits.
55  * \author Martin Saelzle
56  * \ingroup geometry
57  */
58  template <class MeshTraitsT>
59  class PolygonMesh : public pcl::geometry::MeshBase <PolygonMesh <MeshTraitsT>, MeshTraitsT, PolygonMeshTag>
60  {
61  public:
62 
64 
66  using Ptr = boost::shared_ptr<Self>;
67  using ConstPtr = boost::shared_ptr<const Self>;
68 
69  using VertexData = typename Base::VertexData;
70  using HalfEdgeData = typename Base::HalfEdgeData;
71  using EdgeData = typename Base::EdgeData;
72  using FaceData = typename Base::FaceData;
73  using IsManifold = typename Base::IsManifold;
74  using MeshTag = typename Base::MeshTag;
75 
78  using HasEdgeData = typename Base::HasEdgeData;
79  using HasFaceData = typename Base::HasFaceData;
80 
85 
86  // Indices
87  using VertexIndex = typename Base::VertexIndex;
89  using EdgeIndex = typename Base::EdgeIndex;
90  using FaceIndex = typename Base::FaceIndex;
91 
94  using EdgeIndices = typename Base::EdgeIndices;
95  using FaceIndices = typename Base::FaceIndices;
96 
97  // Circulators
106 
107  /** \brief Constructor. */
109  : Base (),
110  add_triangle_ (3),
111  add_quad_ (4)
112  {
113  }
114 
115  /** \brief The base method of addFace is hidden because of the overloads in this class. */
116  using Base::addFace;
117 
118  /** \brief Add a triangle to the mesh. Data is only added if it is associated with the elements. The last vertex is connected with the first one.
119  * \param[in] idx_v_0 Index to the first vertex.
120  * \param[in] idx_v_1 Index to the second vertex.
121  * \param[in] idx_v_2 Index to the third vertex.
122  * \param[in] face_data Data that is set for the face.
123  * \param[in] half_edge_data Data that is set for all added half-edges.
124  * \param[in] edge_data Data that is set for all added edges.
125  * \return Index to the new face. Failure is signaled by returning an invalid face index.
126  * \warning The vertices must be valid and unique (each vertex may be contained only once). Not complying with this requirement results in undefined behavior!
127  */
128  inline FaceIndex
129  addFace (const VertexIndex& idx_v_0,
130  const VertexIndex& idx_v_1,
131  const VertexIndex& idx_v_2,
132  const FaceData& face_data = FaceData (),
133  const EdgeData& edge_data = EdgeData (),
134  const HalfEdgeData& half_edge_data = HalfEdgeData ())
135  {
136  add_triangle_ [0] = idx_v_0;
137  add_triangle_ [1] = idx_v_1;
138  add_triangle_ [2] = idx_v_2;
139 
140  return (this->addFaceImplBase (add_triangle_, face_data, edge_data, half_edge_data));
141  }
142 
143  /** \brief Add a quad to the mesh. Data is only added if it is associated with the elements. The last vertex is connected with the first one.
144  * \param[in] idx_v_0 Index to the first vertex.
145  * \param[in] idx_v_1 Index to the second vertex.
146  * \param[in] idx_v_2 Index to the third vertex.
147  * \param[in] idx_v_3 Index to the fourth vertex.
148  * \param[in] face_data Data that is set for the face.
149  * \param[in] half_edge_data Data that is set for all added half-edges.
150  * \param[in] edge_data Data that is set for all added edges.
151  * \return Index to the new face. Failure is signaled by returning an invalid face index.
152  * \warning The vertices must be valid and unique (each vertex may be contained only once). Not complying with this requirement results in undefined behavior!
153  */
154  inline FaceIndex
155  addFace (const VertexIndex& idx_v_0,
156  const VertexIndex& idx_v_1,
157  const VertexIndex& idx_v_2,
158  const VertexIndex& idx_v_3,
159  const FaceData& face_data = FaceData (),
160  const EdgeData& edge_data = EdgeData (),
161  const HalfEdgeData& half_edge_data = HalfEdgeData ())
162  {
163  add_quad_ [0] = idx_v_0;
164  add_quad_ [1] = idx_v_1;
165  add_quad_ [2] = idx_v_2;
166  add_quad_ [3] = idx_v_3;
167 
168  return (this->addFaceImplBase (add_quad_, face_data, edge_data, half_edge_data));
169  }
170 
171  private:
172 
173  // NOTE: Can't use the typedef of Base as a friend.
174  friend class pcl::geometry::MeshBase <PolygonMesh <MeshTraitsT>, MeshTraitsT, pcl::geometry::PolygonMeshTag>;
175 
176  /** \brief addFace for the polygon mesh. */
177  inline FaceIndex
178  addFaceImpl (const VertexIndices& vertices,
179  const FaceData& face_data,
180  const EdgeData& edge_data,
181  const HalfEdgeData& half_edge_data)
182  {
183  return (this->addFaceImplBase (vertices, face_data, edge_data, half_edge_data));
184  }
185 
186  ////////////////////////////////////////////////////////////////////////
187  // Members
188  ////////////////////////////////////////////////////////////////////////
189 
190  /** \brief Storage for adding a triangle. */
191  VertexIndices add_triangle_;
192 
193  /** \brief Storage for adding a quad. */
194  VertexIndices add_quad_;
195 
196  public:
198  };
199  } // End namespace geom
200 } // End namespace pcl
typename Base::EdgeIndex EdgeIndex
Definition: polygon_mesh.h:89
typename Base::InnerHalfEdgeAroundFaceCirculator InnerHalfEdgeAroundFaceCirculator
Definition: polygon_mesh.h:103
typename Base::VertexIndices VertexIndices
Definition: polygon_mesh.h:92
typename Base::VertexDataCloud VertexDataCloud
Definition: polygon_mesh.h:81
typename Base::HalfEdgeIndex HalfEdgeIndex
Definition: polygon_mesh.h:88
typename Base::VertexAroundVertexCirculator VertexAroundVertexCirculator
Definition: polygon_mesh.h:98
typename Base::HalfEdgeIndices HalfEdgeIndices
Definition: polygon_mesh.h:93
This file defines compatibility wrappers for low level I/O functions.
Definition: convolution.h:45
Circulates clockwise around a face and returns an index to the face of the outer half-edge (the targe...
Circulates counter-clockwise around a vertex and returns an index to the incoming half-edge (the targ...
typename Base::VertexData VertexData
Definition: polygon_mesh.h:69
typename Base::EdgeDataCloud EdgeDataCloud
Definition: polygon_mesh.h:83
typename Base::OuterHalfEdgeAroundFaceCirculator OuterHalfEdgeAroundFaceCirculator
Definition: polygon_mesh.h:104
typename Base::IncomingHalfEdgeAroundVertexCirculator IncomingHalfEdgeAroundVertexCirculator
Definition: polygon_mesh.h:100
#define PCL_MAKE_ALIGNED_OPERATOR_NEW
Macro to signal a class requires a custom allocator.
Definition: pcl_macros.h:344
typename Base::IsManifold IsManifold
Definition: polygon_mesh.h:73
typename Base::FaceAroundVertexCirculator FaceAroundVertexCirculator
Definition: polygon_mesh.h:101
FaceIndex addFace(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 a quad to the mesh.
Definition: polygon_mesh.h:155
Index used to access elements in the half-edge mesh.
Definition: mesh_indices.h:339
boost::shared_ptr< Self > Ptr
Definition: polygon_mesh.h:66
typename Base::FaceIndex FaceIndex
Definition: polygon_mesh.h:90
Circulates counter-clockwise around a vertex and returns an index to the terminating vertex of the ou...
typename Base::OutgoingHalfEdgeAroundVertexCirculator OutgoingHalfEdgeAroundVertexCirculator
Definition: polygon_mesh.h:99
typename Base::HalfEdgeData HalfEdgeData
Definition: polygon_mesh.h:70
typename Base::FaceData FaceData
Definition: polygon_mesh.h:72
Index used to access elements in the half-edge mesh.
Definition: mesh_indices.h:61
Index used to access elements in the half-edge mesh.
Definition: mesh_indices.h:478
Circulates clockwise around a face and returns an index to the terminating vertex of the inner half-e...
typename Base::FaceIndices FaceIndices
Definition: polygon_mesh.h:95
Index used to access elements in the half-edge mesh.
Definition: mesh_indices.h:200
typename Base::HasHalfEdgeData HasHalfEdgeData
Definition: polygon_mesh.h:77
typename Base::HasVertexData HasVertexData
Definition: polygon_mesh.h:76
Circulates counter-clockwise around a vertex and returns an index to the outgoing half-edge (the targ...
typename Base::FaceDataCloud FaceDataCloud
Definition: polygon_mesh.h:84
std::integral_constant< bool,!std::is_same< FaceData, pcl::geometry::NoData >::value > HasFaceData
Definition: mesh_base.h:125
std::integral_constant< bool,!std::is_same< VertexData, pcl::geometry::NoData >::value > HasVertexData
Definition: mesh_base.h:122
typename Base::VertexAroundFaceCirculator VertexAroundFaceCirculator
Definition: polygon_mesh.h:102
Tag describing the type of the mesh.
Definition: polygon_mesh.h:51
typename Base::HasFaceData HasFaceData
Definition: polygon_mesh.h:79
boost::shared_ptr< const Self > ConstPtr
Definition: polygon_mesh.h:67
std::integral_constant< bool,!std::is_same< HalfEdgeData, pcl::geometry::NoData >::value > HasHalfEdgeData
Definition: mesh_base.h:123
typename Base::HalfEdgeDataCloud HalfEdgeDataCloud
Definition: polygon_mesh.h:82
std::integral_constant< bool,!std::is_same< EdgeData, pcl::geometry::NoData >::value > HasEdgeData
Definition: mesh_base.h:124
Circulates clockwise around a face and returns an index to the inner half-edge (the target)...
typename Base::HasEdgeData HasEdgeData
Definition: polygon_mesh.h:78
typename Base::FaceAroundFaceCirculator FaceAroundFaceCirculator
Definition: polygon_mesh.h:105
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.
Definition: mesh_base.h:99
typename Base::MeshTag MeshTag
Definition: polygon_mesh.h:74
General half-edge mesh that can store any polygon with a minimum number of vertices of 3...
Definition: polygon_mesh.h:59
std::vector< VertexIndex > VertexIndices
Definition: mesh_base.h:138
typename Base::EdgeData EdgeData
Definition: polygon_mesh.h:71
typename Base::VertexIndex VertexIndex
Definition: polygon_mesh.h:87
PolygonMesh()
Constructor.
Definition: polygon_mesh.h:108
typename Base::EdgeIndices EdgeIndices
Definition: polygon_mesh.h:94
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.
Definition: polygon_mesh.h:129