Point Cloud Library (PCL) 1.13.1
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mesh_conversion.h
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40
41#pragma once
42
43#include <pcl/PolygonMesh.h>
44#include <pcl/conversions.h>
45
46namespace pcl {
47namespace geometry {
48/** \brief Convert a half-edge mesh to a face-vertex mesh.
49 * \param[in] half_edge_mesh The input mesh.
50 * \param[out] face_vertex_mesh The output mesh.
51 * \author Martin Saelzle
52 * \ingroup geometry
53 */
54template <class HalfEdgeMeshT>
55void
56toFaceVertexMesh(const HalfEdgeMeshT& half_edge_mesh,
57 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 VAFC circ = half_edge_mesh.getVertexAroundFaceCirculator(FaceIndex(i));
69 const VAFC circ_end = circ;
70 polygon.vertices.clear();
71 do {
72 polygon.vertices.push_back(circ.getTargetIndex().get());
73 } while (++circ != circ_end);
74 face_vertex_mesh.polygons.push_back(polygon);
75 }
76}
77
78/** \brief Convert a face-vertex mesh to a half-edge mesh.
79 * \param[in] face_vertex_mesh The input mesh.
80 * \param[out] half_edge_mesh The output mesh. It must have data associated with the
81 * vertices.
82 * \return The number of faces that could NOT be added to the half-edge mesh.
83 * \author Martin Saelzle
84 * \ingroup geometry
85 */
86template <class HalfEdgeMeshT>
87int
88toHalfEdgeMesh(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,
95 "Output mesh must have data associated with the vertices!");
96
97 VertexDataCloud vertices;
98 pcl::fromPCLPointCloud2(face_vertex_mesh.cloud, vertices);
99
100 half_edge_mesh.reserveVertices(vertices.size());
101 half_edge_mesh.reserveEdges(3 * face_vertex_mesh.polygons.size());
102 half_edge_mesh.reserveFaces(face_vertex_mesh.polygons.size());
103
104 for (const auto& vertex : vertices) {
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 vi.clear();
115 for (const auto& vertex : polygon.vertices) {
116 vi.emplace_back(vertex);
117 }
118
119 if (!half_edge_mesh.addFace(vi).isValid()) {
120 ++count_not_added;
121 }
122 }
123
124 return (count_not_added);
125}
126} // End namespace geometry
127} // End namespace pcl
void toFaceVertexMesh(const HalfEdgeMeshT &half_edge_mesh, pcl::PolygonMesh &face_vertex_mesh)
Convert a half-edge mesh to a face-vertex mesh.
int toHalfEdgeMesh(const pcl::PolygonMesh &face_vertex_mesh, HalfEdgeMeshT &half_edge_mesh)
Convert a face-vertex mesh to a half-edge mesh.
void fromPCLPointCloud2(const pcl::PCLPointCloud2 &msg, pcl::PointCloud< PointT > &cloud, const MsgFieldMap &field_map, const std::uint8_t *msg_data)
Convert a PCLPointCloud2 binary data blob into a pcl::PointCloud<T> object using a field_map.
void toPCLPointCloud2(const pcl::PointCloud< PointT > &cloud, pcl::PCLPointCloud2 &msg)
Convert a pcl::PointCloud<T> object to a PCLPointCloud2 binary data blob.
std::vector< ::pcl::Vertices > polygons
Definition PolygonMesh.h:22
::pcl::PCLPointCloud2 cloud
Definition PolygonMesh.h:20
Describes a set of vertices in a polygon mesh, by basically storing an array of indices.
Definition Vertices.h:15
Indices vertices
Definition Vertices.h:18