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The ear clipping triangulation algorithm. More...

#include <pcl/surface/ear_clipping.h>

Public Types
using	Ptr = shared_ptr< EarClipping >

using	ConstPtr = shared_ptr< const EarClipping >

Public Types inherited from pcl::MeshProcessing
using	Ptr = shared_ptr< MeshProcessing >

using	ConstPtr = shared_ptr< const MeshProcessing >

using	PolygonMeshConstPtr = PolygonMesh::ConstPtr

Public Member Functions
	EarClipping ()
	Empty constructor. More...

virtual bool	initCompute ()
	Initialize computation. More...

Public Member Functions inherited from pcl::MeshProcessing
	MeshProcessing ()
	Constructor. More...

virtual	~MeshProcessing ()
	Destructor. More...

void	setInputMesh (const pcl::PolygonMeshConstPtr &input)
	Set the input mesh that we want to process. More...

pcl::PolygonMeshConstPtr	getInputMesh () const
	Get the input mesh to be processed. More...

void	process (pcl::PolygonMesh &output)
	Process the input surface mesh and store the results. More...

Public Attributes
pcl::PolygonMeshConstPtr	input_mesh_
	Input polygonal mesh. More...

Protected Member Functions
bool	initCompute () override
	This method should get called before starting the actual computation. More...

void	performProcessing (pcl::PolygonMesh &output) override
	The actual surface reconstruction method. More...

void	triangulate (const Vertices &vertices, PolygonMesh &output)
	Triangulate one polygon. More...

float	area (const Indices &vertices)
	Compute the signed area of a polygon. More...

template<typename T = pcl::index_t, std::enable_if_t<!std::is_same< T, std::uint32_t >::value, pcl::index_t > = 0>
float	area (const std::vector< std::uint32_t > &vertices)
	Compute the signed area of a polygon. More...

bool	isEar (int u, int v, int w, const Indices &vertices)
	Check if the triangle (u,v,w) is an ear. More...

template<typename T = pcl::index_t, std::enable_if_t<!std::is_same< T, std::uint32_t >::value, pcl::index_t > = 0>
bool	isEar (int u, int v, int w, const std::vector< std::uint32_t > &vertices)
	Check if the triangle (u,v,w) is an ear. More...

bool	isInsideTriangle (const Eigen::Vector3f &u, const Eigen::Vector3f &v, const Eigen::Vector3f &w, const Eigen::Vector3f &p)
	Check if p is inside the triangle (u,v,w). More...

float	crossProduct (const Eigen::Vector2f &p1, const Eigen::Vector2f &p2) const
	Compute the cross product between 2D vectors. More...

Protected Member Functions inherited from pcl::MeshProcessing
virtual void	deinitCompute ()
	UnInitialize computation. More...

virtual std::string	getClassName () const
	Abstract class get name method. More...

Protected Attributes
pcl::PointCloud< pcl::PointXYZ >::Ptr	points_
	a Pointer to the point cloud data. More...

Protected Attributes inherited from pcl::MeshProcessing
pcl::PolygonMeshConstPtr	input_mesh_
	Input polygonal mesh. More...

Detailed Description

The ear clipping triangulation algorithm.

The code is inspired by Flavien Brebion implementation, which is in n^3 and does not handle holes.

Author: Nicolas Burrus

Definition at line 52 of file ear_clipping.h.

Member Typedef Documentation

ConstPtr

using pcl::EarClipping::ConstPtr = shared_ptr<const EarClipping>

Definition at line 56 of file ear_clipping.h.

Ptr

using pcl::EarClipping::Ptr = shared_ptr<EarClipping>

Definition at line 55 of file ear_clipping.h.

Constructor & Destructor Documentation

EarClipping()

pcl::EarClipping::EarClipping ( )

inline

Empty constructor.

Definition at line 61 of file ear_clipping.h.

Member Function Documentation

area() [1/2]

float pcl::EarClipping::area ( const Indices & vertices )

protected

Compute the signed area of a polygon.

Parameters

[in] vertices the vertices representing the polygon

area() [2/2]

template<typename T = pcl::index_t, std::enable_if_t<!std::is_same< T, std::uint32_t >::value, pcl::index_t > = 0>

float pcl::EarClipping::area ( const std::vector< std::uint32_t > & vertices )

inlineprotected

Compute the signed area of a polygon.

Parameters

[in] vertices the vertices representing the polygon

Deprecated:: Scheduled for removal in version 1 . 14 : "This method creates a useless copy of the vertices vector. Use area method which accepts Indices instead"

Definition at line 98 of file ear_clipping.h.

crossProduct()

float pcl::EarClipping::crossProduct	(	const Eigen::Vector2f &	p1,
		const Eigen::Vector2f &	p2
	)		const

inlineprotected

Compute the cross product between 2D vectors.

Parameters

[in]	p1	the first 2D vector
[in]	p2	the first 2D vector

Definition at line 143 of file ear_clipping.h.

initCompute() [1/2]

virtual bool pcl::MeshProcessing::initCompute

Initialize computation.

Must be called before processing starts.

initCompute() [2/2]

bool pcl::EarClipping::initCompute ( )

overrideprotectedvirtual

This method should get called before starting the actual computation.

Reimplemented from pcl::MeshProcessing.

isEar() [1/2]

bool pcl::EarClipping::isEar	(	int	u,
		int	v,
		int	w,
		const Indices &	vertices
	)

protected

Check if the triangle (u,v,w) is an ear.

Parameters

[in]	u	the first triangle vertex
[in]	v	the second triangle vertex
[in]	w	the third triangle vertex
[in]	vertices	a set of input vertices

isEar() [2/2]

template<typename T = pcl::index_t, std::enable_if_t<!std::is_same< T, std::uint32_t >::value, pcl::index_t > = 0>

bool pcl::EarClipping::isEar	(	int	u,
		int	v,
		int	w,
		const std::vector< std::uint32_t > &	vertices
	)

inlineprotected

Check if the triangle (u,v,w) is an ear.

Parameters

[in]	u	the first triangle vertex
[in]	v	the second triangle vertex
[in]	w	the third triangle vertex
[in]	vertices	a set of input vertices

Deprecated:: Scheduled for removal in version 1 . 14 : "This method creates a useless copy of the vertices vector. Use isEar method which accepts Indices instead"

Definition at line 121 of file ear_clipping.h.

isInsideTriangle()

bool pcl::EarClipping::isInsideTriangle	(	const Eigen::Vector3f &	u,
		const Eigen::Vector3f &	v,
		const Eigen::Vector3f &	w,
		const Eigen::Vector3f &	p
	)

protected

Check if p is inside the triangle (u,v,w).

Parameters

[in]	u	the first triangle vertex
[in]	v	the second triangle vertex
[in]	w	the third triangle vertex
[in]	p	the point to check

performProcessing()

void pcl::EarClipping::performProcessing ( pcl::PolygonMesh & output )

overrideprotectedvirtual

The actual surface reconstruction method.

Parameters

[out] output the output polygonal mesh

Implements pcl::MeshProcessing.

triangulate()

void pcl::EarClipping::triangulate	(	const Vertices &	vertices,
		PolygonMesh &	output
	)

protected

Triangulate one polygon.

Parameters

[in]	vertices	the set of vertices
[out]	output	the resultant polygonal mesh

Member Data Documentation

input_mesh_

pcl::PolygonMeshConstPtr pcl::MeshProcessing::input_mesh_

Input polygonal mesh.

Definition at line 147 of file processing.h.

points_

pcl::PointCloud<pcl::PointXYZ>::Ptr pcl::EarClipping::points_

protected

a Pointer to the point cloud data.

Definition at line 63 of file ear_clipping.h.

The documentation for this class was generated from the following file:

pcl/surface/ear_clipping.h

© 2009–2012, Willow Garage, Inc.
© 2012–, Open Perception, Inc.
Licensed under the BSD License.
https://pointclouds.org/documentation/classpcl_1_1_ear_clipping.html

Public Types

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

ConstPtr

Ptr

Constructor & Destructor Documentation

EarClipping()

Member Function Documentation

area() [1/2]

area() [2/2]

crossProduct()

initCompute() [1/2]

initCompute() [2/2]

isEar() [1/2]

isEar() [2/2]

isInsideTriangle()

performProcessing()

triangulate()

Member Data Documentation

input_mesh_

points_