43 #include <pcl/geometry/mesh_circulators.h>
44 #include <pcl/geometry/mesh_elements.h>
45 #include <pcl/geometry/mesh_indices.h>
46 #include <pcl/geometry/mesh_traits.h>
49 #include <pcl/point_cloud.h>
51 #include <type_traits>
59 #ifdef PCL_GEOMETRY_MESH_BASE_TEST_DELETE_FACE_MANIFOLD_2
62 bool g_pcl_geometry_mesh_base_test_delete_face_manifold_2_success;
73 template <
class MeshT>
95 template <
class DerivedT,
class MeshTraitsT,
class MeshTagT>
99 using Ptr = shared_ptr<Self>;
112 static_assert(std::is_convertible<IsManifold, bool>::value,
113 "MeshTraitsT::IsManifold is not convertible to bool");
119 std::integral_constant<bool,
120 !std::is_same<VertexData, pcl::geometry::NoData>::value>;
122 std::integral_constant<bool,
123 !std::is_same<HalfEdgeData, pcl::geometry::NoData>::value>;
125 std::integral_constant<bool,
126 !std::is_same<EdgeData, pcl::geometry::NoData>::value>;
128 std::integral_constant<bool,
129 !std::is_same<FaceData, pcl::geometry::NoData>::value>;
166 : vertex_data_cloud_()
167 , half_edge_data_cloud_()
185 vertices_.push_back(
Vertex());
210 return (
static_cast<Derived*
>(
this)->addFaceImpl(
211 vertices, face_data, edge_data, half_edge_data));
221 assert(this->
isValid(idx_vertex));
225 delete_faces_vertex_.clear();
233 }
while (++circ != circ_end);
235 for (FaceIndices::const_iterator it = delete_faces_vertex_.begin();
236 it != delete_faces_vertex_.end();
273 assert(this->
isValid(idx_edge));
287 assert(this->
isValid(idx_face));
303 this->remove<Vertices, VertexDataCloud, VertexIndices, HasVertexData>(
304 vertices_, vertex_data_cloud_);
306 this->remove<HalfEdges, HalfEdgeDataCloud, HalfEdgeIndices, HasHalfEdgeData>(
307 half_edges_, half_edge_data_cloud_);
309 this->remove<Faces, FaceDataCloud, FaceIndices, HasFaceData>(faces_,
313 if (HasEdgeData::value) {
314 auto it_ed_old = edge_data_cloud_.
begin();
315 auto it_ed_new = edge_data_cloud_.
begin();
317 for (
auto it_ind = new_half_edge_indices.cbegin(),
318 it_ind_end = new_half_edge_indices.cend();
319 it_ind != it_ind_end;
320 it_ind += 2, ++it_ed_old) {
321 if (it_ind->isValid()) {
322 *it_ed_new++ = *it_ed_old;
329 for (
VertexIterator it = vertices_.begin(); it != vertices_.end(); ++it) {
330 if (it->idx_outgoing_half_edge_.isValid()) {
331 it->idx_outgoing_half_edge_ =
332 new_half_edge_indices[it->idx_outgoing_half_edge_.get()];
336 for (
HalfEdgeIterator it = half_edges_.begin(); it != half_edges_.end(); ++it) {
337 it->idx_terminating_vertex_ =
338 new_vertex_indices[it->idx_terminating_vertex_.get()];
339 it->idx_next_half_edge_ = new_half_edge_indices[it->idx_next_half_edge_.get()];
340 it->idx_prev_half_edge_ = new_half_edge_indices[it->idx_prev_half_edge_.get()];
341 if (it->idx_face_.isValid()) {
342 it->idx_face_ = new_face_indices[it->idx_face_.get()];
346 for (
FaceIterator it = faces_.begin(); it != faces_.end(); ++it) {
347 it->idx_inner_half_edge_ = new_half_edge_indices[it->idx_inner_half_edge_.get()];
359 assert(this->
isValid(idx_vertex));
360 return (this->
getVertex(idx_vertex).idx_outgoing_half_edge_);
367 assert(this->
isValid(idx_vertex));
379 assert(this->
isValid(idx_half_edge));
380 return (this->
getHalfEdge(idx_half_edge).idx_terminating_vertex_);
387 assert(this->
isValid(idx_half_edge));
396 assert(this->
isValid(idx_half_edge));
399 : idx_half_edge.
get() + 1));
406 assert(this->
isValid(idx_half_edge));
407 return (this->
getHalfEdge(idx_half_edge).idx_next_half_edge_);
414 assert(this->
isValid(idx_half_edge));
415 return (this->
getHalfEdge(idx_half_edge).idx_prev_half_edge_);
422 assert(this->
isValid(idx_half_edge));
423 return (this->
getHalfEdge(idx_half_edge).idx_face_);
430 assert(this->
isValid(idx_half_edge));
442 assert(this->
isValid(idx_face));
443 return (this->
getFace(idx_face).idx_inner_half_edge_);
450 assert(this->
isValid(idx_face));
462 assert(this->
isValid(idx_vertex));
470 assert(this->
isValid(idx_outgoing_half_edge));
478 assert(this->
isValid(idx_vertex));
487 assert(this->
isValid(idx_outgoing_half_edge));
495 assert(this->
isValid(idx_vertex));
504 assert(this->
isValid(idx_incoming_half_edge));
512 assert(this->
isValid(idx_vertex));
520 assert(this->
isValid(idx_outgoing_half_edge));
528 assert(this->
isValid(idx_face));
536 assert(this->
isValid(idx_inner_half_edge));
544 assert(this->
isValid(idx_face));
552 assert(this->
isValid(idx_inner_half_edge));
560 assert(this->
isValid(idx_face));
568 assert(this->
isValid(idx_inner_half_edge));
576 assert(this->
isValid(idx_face));
584 assert(this->
isValid(idx_inner_half_edge));
603 for (std::size_t i = 0; i < this->
sizeVertices(); ++i) {
626 for (std::size_t i = 0; i < this->
sizeFaces(); ++i) {
676 assert(this->
isValid(idx_vertex));
693 assert(this->
isValid(idx_edge));
702 assert(this->
isValid(idx_face));
714 assert(this->
isValid(idx_vertex));
727 assert(this->
isValid(idx_vertex));
746 assert(this->
isValid(idx_edge));
758 template <
bool CheckVerticesT>
762 assert(this->
isValid(idx_face));
763 return (this->
isBoundary(idx_face, std::integral_constant<bool, CheckVerticesT>()));
771 assert(this->
isValid(idx_face));
772 return (this->
isBoundary(idx_face, std::true_type()));
783 assert(this->
isValid(idx_vertex));
804 return (vertices_.size());
811 assert(half_edges_.size() % 2 == 0);
812 return (half_edges_.size());
819 assert(half_edges_.size() % 2 == 0);
820 return (half_edges_.size() / 2);
827 return (faces_.size());
845 return (vertices_.empty());
852 return (half_edges_.empty());
859 return (faces_.empty());
870 vertices_.reserve(n);
879 half_edges_.reserve(2 * n);
910 half_edges_.resize(2 * n);
951 return (vertex_data_cloud_);
958 return (vertex_data_cloud_);
969 if (vertex_data_cloud.
size() == vertex_data_cloud_.
size()) {
970 vertex_data_cloud_ = vertex_data_cloud;
986 return (half_edge_data_cloud_);
993 return (half_edge_data_cloud_);
1004 if (half_edge_data_cloud.
size() == half_edge_data_cloud_.
size()) {
1005 half_edge_data_cloud_ = half_edge_data_cloud;
1021 return (edge_data_cloud_);
1028 return (edge_data_cloud_);
1038 if (edge_data_cloud.
size() == edge_data_cloud_.
size()) {
1039 edge_data_cloud_ = edge_data_cloud;
1055 return (face_data_cloud_);
1062 return (face_data_cloud_);
1072 if (face_data_cloud.
size() == face_data_cloud_.
size()) {
1073 face_data_cloud_ = face_data_cloud;
1089 if (HasVertexData::value) {
1090 assert(&vertex_data >= &vertex_data_cloud_.
front() &&
1091 &vertex_data <= &vertex_data_cloud_.
back());
1101 if (HasHalfEdgeData::value) {
1102 assert(&half_edge_data >= &half_edge_data_cloud_.
front() &&
1103 &half_edge_data <= &half_edge_data_cloud_.
back());
1114 if (HasEdgeData::value) {
1115 assert(&edge_data >= &edge_data_cloud_.
front() &&
1116 &edge_data <= &edge_data_cloud_.
back());
1126 if (HasFaceData::value) {
1127 assert(&face_data >= &face_data_cloud_.
front() &&
1128 &face_data <= &face_data_cloud_.
back());
1163 const int n =
static_cast<int>(vertices.size());
1168 inner_he_.resize(n);
1171 make_adjacent_.resize(n);
1172 for (
int i = 0; i < n; ++i) {
1174 vertices[(i + 1) % n],
1181 for (
int i = 0; i < n; ++i) {
1182 int j = (i + 1) % n;
1196 if (!IsManifold::value) {
1197 for (
int i = 0; i < n; ++i) {
1198 if (make_adjacent_[i]) {
1199 this->
makeAdjacent(inner_he_[i], inner_he_[(i + 1) % n], free_he_[i]);
1205 for (
int i = 0; i < n; ++i) {
1208 vertices[i], vertices[(i + 1) % n], half_edge_data, edge_data);
1213 for (
int i = 0; i < n; ++i) {
1214 int j = (i + 1) % n;
1215 if (is_new_[i] && is_new_[j])
1217 else if (is_new_[i] && !is_new_[j])
1218 this->
connectNewOld(inner_he_[i], inner_he_[j], vertices[j]);
1219 else if (!is_new_[i] && is_new_[j])
1220 this->
connectOldNew(inner_he_[i], inner_he_[j], vertices[j]);
1247 half_edges_.push_back(
HalfEdge(idx_v_b));
1248 half_edges_.push_back(
HalfEdge(idx_v_a));
1254 return (
HalfEdgeIndex(
static_cast<int>(half_edges_.size() - 2)));
1273 std::vector<bool>::reference is_new_ab,
1274 std::true_type )
const
1294 std::vector<bool>::reference is_new_ab,
1295 std::false_type )
const
1316 }
while (++circ != circ_end);
1325 const bool is_new_ab,
1326 const bool is_new_bc,
1327 const bool is_isolated_b,
1328 std::vector<bool>::reference ,
1330 std::true_type )
const
1332 return !(is_new_ab && is_new_bc && !is_isolated_b);
1347 const bool is_new_ab,
1348 const bool is_new_bc,
1350 std::vector<bool>::reference make_adjacent_ab_bc,
1352 std::false_type )
const
1354 if (is_new_ab || is_new_bc) {
1355 make_adjacent_ab_bc =
false;
1360 make_adjacent_ab_bc =
false;
1364 make_adjacent_ab_bc =
true;
1417 faces_.push_back(
Face(inner_he.back()));
1422 for (
const auto& idx_half_edge : inner_he) {
1461 this->
connectNewNew(idx_he_ab, idx_he_bc, idx_v_b, std::true_type());
1527 if (idx_he_b_out == idx_he_bc)
1533 while (++circ != circ_end) {
1547 template <
class DataT>
1555 template <
class DataT>
1572 assert(this->
isValid(idx_face));
1573 delete_faces_face_.clear();
1574 delete_faces_face_.push_back(idx_face);
1576 while (!delete_faces_face_.empty()) {
1577 const FaceIndex idx_face_cur = delete_faces_face_.back();
1578 delete_faces_face_.pop_back();
1582 this->
deleteFace(idx_face_cur, std::false_type());
1590 assert(this->
isValid(idx_face));
1596 is_boundary_.clear();
1602 is_boundary_.push_back(
1604 }
while (++circ != circ_end);
1605 assert(inner_he_.size() >= 3);
1607 const int n =
static_cast<int>(inner_he_.size());
1610 if (IsManifold::value) {
1611 for (
int i = 0; i < n; ++i) {
1613 this->
reconnect(inner_he_[i], inner_he_[j], is_boundary_[i], is_boundary_[j]);
1615 for (
int i = 0; i < n; ++i) {
1620 for (
int i = 0; i < n; ++i) {
1622 this->
reconnect(inner_he_[i], inner_he_[j], is_boundary_[i], is_boundary_[j]);
1639 const bool is_boundary_ba,
1640 const bool is_boundary_cb)
1646 if (is_boundary_ba && is_boundary_cb)
1650 if (idx_he_cb_next == idx_he_ba)
1662 else if (is_boundary_ba && !is_boundary_cb)
1670 else if (!is_boundary_ba && is_boundary_cb)
1696 delete_faces_face_.push_back(this->
getFaceIndex((circ++).getTargetIndex()));
1698 #ifdef PCL_GEOMETRY_MESH_BASE_TEST_DELETE_FACE_MANIFOLD_2
1706 pcl::geometry::g_pcl_geometry_mesh_base_test_delete_face_manifold_2_success =
1738 assert(this->
isValid(idx_vertex));
1746 assert(this->
isValid(idx_he));
1754 assert(this->
isValid(idx_edge));
1763 assert(this->
isValid(idx_face));
1784 template <
class ElementContainerT,
1785 class DataContainerT,
1786 class IndexContainerT,
1789 remove(ElementContainerT& elements, DataContainerT& data_cloud)
1791 using Index =
typename IndexContainerT::value_type;
1792 using Element =
typename ElementContainerT::value_type;
1794 if (HasDataT::value)
1795 assert(elements.size() == data_cloud.size());
1797 assert(data_cloud.empty());
1799 IndexContainerT new_indices(elements.size(),
1800 typename IndexContainerT::value_type());
1801 Index ind_old(0), ind_new(0);
1803 typename ElementContainerT::const_iterator it_e_old = elements.begin();
1804 typename ElementContainerT::iterator it_e_new = elements.begin();
1806 typename DataContainerT::const_iterator it_d_old = data_cloud.begin();
1807 typename DataContainerT::iterator it_d_new = data_cloud.begin();
1809 typename IndexContainerT::iterator it_ind_new = new_indices.begin();
1810 typename IndexContainerT::const_iterator it_ind_new_end = new_indices.end();
1812 while (it_ind_new != it_ind_new_end) {
1814 *it_ind_new = ind_new++;
1817 *it_e_new++ = *it_e_old;
1818 this->
assignIf(it_d_old, it_d_new, HasDataT());
1827 elements.resize(ind_new.get(), Element());
1828 if (HasDataT::value) {
1829 data_cloud.resize(ind_new.get());
1831 else if (it_d_old != data_cloud.begin() || it_d_new != data_cloud.begin()) {
1832 std::cerr <<
"TODO: Bug in MeshBase::remove!\n";
1837 return (new_indices);
1841 template <
class IteratorT>
1849 template <
class IteratorT>
1855 template <
class ConstIteratorT,
class IteratorT>
1859 std::true_type )
const
1865 template <
class ConstIteratorT,
class IteratorT>
1869 std::false_type )
const
1881 assert(this->
isValid(idx_vertex));
1882 this->
getVertex(idx_vertex).idx_outgoing_half_edge_ = idx_outgoing_half_edge;
1890 assert(this->
isValid(idx_half_edge));
1891 this->
getHalfEdge(idx_half_edge).idx_terminating_vertex_ = idx_terminating_vertex;
1899 assert(this->
isValid(idx_half_edge));
1900 this->
getHalfEdge(idx_half_edge).idx_next_half_edge_ = idx_next_half_edge;
1908 assert(this->
isValid(idx_half_edge));
1909 this->
getHalfEdge(idx_half_edge).idx_prev_half_edge_ = idx_prev_half_edge;
1916 assert(this->
isValid(idx_half_edge));
1917 this->
getHalfEdge(idx_half_edge).idx_face_ = idx_face;
1925 assert(this->
isValid(idx_face));
1926 this->
getFace(idx_face).idx_inner_half_edge_ = idx_inner_half_edge;
1944 }
while (++circ != circ_end);
1961 }
while (++circ != circ_end);
1981 if (!this->
isBoundary((circ++).getTargetIndex()))
1986 }
while (++circ != circ_end);
1997 for (std::size_t i = 0; i < this->
sizeVertices(); ++i) {
2009 template <
class DataCloudT>
2011 reserveData(DataCloudT& cloud,
const std::size_t n, std::true_type )
const
2017 template <
class DataCloudT>
2021 std::false_type )
const
2025 template <
class DataCloudT>
2028 const std::size_t n,
2029 const typename DataCloudT::value_type& data,
2030 std::true_type )
const
2032 data.resize(n, data);
2036 template <
class DataCloudT>
2040 const typename DataCloudT::value_type& ,
2041 std::false_type )
const
2045 template <
class DataCloudT>
2053 template <
class DataCloudT>
2066 assert(this->
isValid(idx_vertex));
2067 return (vertices_[idx_vertex.
get()]);
2074 assert(this->
isValid(idx_vertex));
2075 return (vertices_[idx_vertex.
get()]);
2082 assert(this->
isValid(idx_vertex));
2083 vertices_[idx_vertex.
get()] = vertex;
2094 assert(this->
isValid(idx_he));
2095 return (half_edges_[idx_he.
get()]);
2102 assert(this->
isValid(idx_he));
2103 return (half_edges_[idx_he.
get()]);
2110 assert(this->
isValid(idx_he));
2111 half_edges_[idx_he.
get()] = half_edge;
2122 assert(this->
isValid(idx_face));
2123 return (faces_[idx_face.
get()]);
2130 assert(this->
isValid(idx_face));
2131 return (faces_[idx_face.
get()]);
2138 assert(this->
isValid(idx_face));
2139 faces_[idx_face.
get()] = face;
2177 std::vector<bool> is_new_;
2180 std::vector<bool> make_adjacent_;
2183 std::vector<bool> is_boundary_;
2192 template <
class MeshT>
void push_back(const PointT &pt)
Insert a new point in the cloud, at the end of the container.
const PointT & front() const
void resize(std::size_t count)
Resizes the container to contain count elements.
const PointT & back() const
iterator begin() noexcept
void invalidate()
Invalidate the index.
bool isValid() const
Returns true if the index is valid.
int get() const
Get the index.
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 face of the outgoing half-ed...
FaceIndex getTargetIndex() const
Get the index to the target face.
A face is a closed loop of edges.
An edge is a connection between two vertices.
Circulates counter-clockwise around a vertex and returns an index to the incoming half-edge (the targ...
HalfEdgeIndex getTargetIndex() const
Get the index to the incoming half-edge.
Circulates clockwise around a face and returns an index to the inner half-edge (the target).
HalfEdgeIndex getTargetIndex() const
Get the index to the inner half-edge.
Base class for the half-edge mesh.
void setOutgoingHalfEdgeIndex(const VertexIndex &idx_vertex, const HalfEdgeIndex &idx_outgoing_half_edge)
Set the outgoing half-edge index to a given vertex.
HalfEdgeIndex getNextHalfEdgeIndex(const HalfEdgeIndex &idx_half_edge) const
Get the next half-edge index to a given half-edge.
std::vector< Face > Faces
shared_ptr< const Self > ConstPtr
bool isDeleted(const FaceIndex &idx_face) const
Check if the given face is marked as deleted.
void setNextHalfEdgeIndex(const HalfEdgeIndex &idx_half_edge, const HalfEdgeIndex &idx_next_half_edge)
Set the next half_edge index to a given half-edge.
bool emptyVertices() const
Check if the vertices are empty.
FaceDataCloud getFaceDataCloud() const
Get the stored face data.
std::integral_constant< bool, !std::is_same< VertexData, pcl::geometry::NoData >::value > HasVertexData
bool isBoundary(const VertexIndex &idx_vertex) const
Check if the given vertex lies on the boundary.
VertexAroundVertexCirculator getVertexAroundVertexCirculator(const HalfEdgeIndex &idx_outgoing_half_edge) const
pcl::geometry::IncomingHalfEdgeAroundVertexCirculator< const Self > IncomingHalfEdgeAroundVertexCirculator
InnerHalfEdgeAroundFaceCirculator getInnerHalfEdgeAroundFaceCirculator(const HalfEdgeIndex &idx_inner_half_edge) const
bool isBoundary(const FaceIndex &idx_face, std::true_type) const
Check if any vertex of the face lies on the boundary.
void deleteEdge(const EdgeIndex &idx_edge)
Mark the given edge (both half-edges) and the associated faces as deleted.
VertexAroundVertexCirculator getVertexAroundVertexCirculator(const VertexIndex &idx_vertex) const
pcl::geometry::OuterHalfEdgeAroundFaceCirculator< const Self > OuterHalfEdgeAroundFaceCirculator
void deleteFace(const FaceIndex &idx_face)
Mark the given face as deleted.
std::vector< Vertex > Vertices
EdgeIndex getEdgeIndex(const EdgeData &edge_data) const
Get the index associated to the given edge data.
HalfEdgeIndex getOppositeHalfEdgeIndex(const HalfEdgeIndex &idx_half_edge) const
Get the opposite half-edge index to a given half-edge.
HalfEdgeIndex getOuterHalfEdgeIndex(const FaceIndex &idx_face) const
Get the outer half-edge inex to a given face.
std::vector< EdgeIndex > EdgeIndices
bool emptyEdges() const
Check if the edges are empty.
VertexAroundFaceCirculator getVertexAroundFaceCirculator(const HalfEdgeIndex &idx_inner_half_edge) const
void setHalfEdge(const HalfEdgeIndex &idx_he, const HalfEdge &half_edge)
Set the half-edge at the given index.
FaceIndex connectFace(const HalfEdgeIndices &inner_he, const FaceData &face_data)
Add a face to the mesh and connect it to the half-edges.
HalfEdgeIndex getHalfEdgeIndex(const HalfEdgeData &half_edge_data) const
Get the index associated to the given half-edge data.
HalfEdgeDataCloud getHalfEdgeDataCloud() const
Get the stored half-edge data.
pcl::geometry::Vertex Vertex
bool isBoundary(const HalfEdgeIndex &idx_he) const
Check if the given half-edge lies on the bounddary.
IncomingHalfEdgeAroundVertexCirculator getIncomingHalfEdgeAroundVertexCirculator(const VertexIndex &idx_vertex) const
std::size_t sizeVertices() const
Get the number of the vertices.
void reconnect(const HalfEdgeIndex &idx_he_ab, const HalfEdgeIndex &idx_he_bc, const bool is_boundary_ba, const bool is_boundary_cb)
Deconnect the input half-edges from the mesh and adjust the indices of the connected half-edges.
void resizeVertices(const std::size_t n, const VertexData &data=VertexData())
Resize the the vertices to n elements.
bool setEdgeDataCloud(const EdgeDataCloud &edge_data_cloud)
Change the stored edge data.
bool checkTopology1(const VertexIndex &idx_v_a, const VertexIndex &idx_v_b, HalfEdgeIndex &idx_he_ab, std::vector< bool >::reference is_new_ab, std::true_type) const
Check if the edge between the two vertices can be added.
std::size_t sizeEdges() const
Get the number of the edges.
pcl::geometry::FaceIndex FaceIndex
InnerHalfEdgeAroundFaceCirculator getInnerHalfEdgeAroundFaceCirculator(const FaceIndex &idx_face) const
typename MeshTraitsT::EdgeData EdgeData
bool emptyFaces() const
Check if the faces are empty.
bool empty() const
Check if the mesh is empty.
IncomingHalfEdgeAroundVertexCirculator getIncomingHalfEdgeAroundVertexCirculator(const HalfEdgeIndex &idx_incoming_half_edge) const
void deleteVertex(const VertexIndex &idx_vertex)
Mark the given vertex and all connected half-edges and faces as deleted.
std::vector< FaceIndex > FaceIndices
void reserveData(DataCloudT &, const std::size_t, std::false_type) const
Does nothing.
void connectOldNew(const HalfEdgeIndex &idx_he_ab, const HalfEdgeIndex &idx_he_bc, const VertexIndex &idx_v_b)
The second half-edge is new.
bool setHalfEdgeDataCloud(const HalfEdgeDataCloud &half_edge_data_cloud)
Change the stored half-edge data.
VertexIndex getOriginatingVertexIndex(const HalfEdgeIndex &idx_half_edge) const
Get the originating vertex index to a given half-edge.
std::size_t sizeFaces() const
Get the number of the faces.
void deleteEdge(const HalfEdgeIndex &idx_he)
Mark the given half-edge, the opposite half-edge and the associated faces as deleted.
void resizeData(DataCloudT &, const std::size_t, const typename DataCloudT::value_type &, std::false_type) const
Does nothing.
typename HalfEdges::iterator HalfEdgeIterator
typename MeshTraitsT::HalfEdgeData HalfEdgeData
void markDeleted(const FaceIndex &idx_face)
Mark the given face as deleted.
OutgoingHalfEdgeAroundVertexCirculator getOutgoingHalfEdgeAroundVertexCirculator(const HalfEdgeIndex &idx_outgoing_half_edge) const
HalfEdgeIndex getInnerHalfEdgeIndex(const FaceIndex &idx_face) const
Get the inner half-edge index to a given face.
void addData(pcl::PointCloud< DataT > &, const DataT &, std::false_type)
Does nothing.
pcl::PointCloud< VertexData > VertexDataCloud
void reconnectNBNB(const HalfEdgeIndex &idx_he_bc, const HalfEdgeIndex &idx_he_cb, const VertexIndex &idx_v_b, std::true_type)
Both edges are not on the boundary.
HalfEdgeIndex getPrevHalfEdgeIndex(const HalfEdgeIndex &idx_half_edge) const
Get the previous half-edge index to a given half-edge.
bool setFaceDataCloud(const FaceDataCloud &face_data_cloud)
Change the stored face data.
OuterHalfEdgeAroundFaceCirculator getOuterHalfEdgeAroundFaceCirculator(const HalfEdgeIndex &idx_inner_half_edge) const
void clearData(DataCloudT &, std::false_type) const
Does nothing.
Vertex getVertex(const VertexIndex &idx_vertex) const
Get the vertex for the given index.
pcl::geometry::FaceAroundFaceCirculator< const Self > FaceAroundFaceCirculator
FaceIndex addFaceImplBase(const VertexIndices &vertices, const FaceData &face_data, const EdgeData &edge_data, const HalfEdgeData &half_edge_data)
General implementation of addFace.
typename Faces::const_iterator FaceConstIterator
typename MeshTraitsT::VertexData VertexData
void markDeleted(const VertexIndex &idx_vertex)
Mark the given vertex as deleted.
bool setVertexDataCloud(const VertexDataCloud &vertex_data_cloud)
Change the stored vertex data.
pcl::geometry::FaceAroundVertexCirculator< const Self > FaceAroundVertexCirculator
std::vector< HalfEdgeIndex > HalfEdgeIndices
void reserveFaces(const std::size_t n)
Reserve storage space for n faces.
EdgeDataCloud & getEdgeDataCloud()
Get access to the stored edge data.
bool checkTopology2(const HalfEdgeIndex &, const HalfEdgeIndex &, const bool is_new_ab, const bool is_new_bc, const bool is_isolated_b, std::vector< bool >::reference, HalfEdgeIndex &, std::true_type) const
Check if the face may be added (mesh does not become non-manifold).
bool isValid(const HalfEdgeIndex &idx_he) const
Check if the given half-edge index is a valid index into the mesh.
void markDeleted(const HalfEdgeIndex &idx_he)
Mark the given half-edge as deleted.
std::size_t sizeHalfEdges() const
Get the number of the half-edges.
std::integral_constant< bool, !std::is_same< EdgeData, pcl::geometry::NoData >::value > HasEdgeData
void resizeEdges(const std::size_t n, const EdgeData &edge_data=EdgeData(), const HalfEdgeData he_data=HalfEdgeData())
Resize the edges to n elements (half-edges will hold 2*n elements).
void setVertex(const VertexIndex &idx_vertex, const Vertex &vertex)
Set the vertex at the given index.
OutgoingHalfEdgeAroundVertexCirculator getOutgoingHalfEdgeAroundVertexCirculator(const VertexIndex &idx_vertex) const
std::integral_constant< bool, !std::is_same< FaceData, pcl::geometry::NoData >::value > HasFaceData
VertexIndex getVertexIndex(const VertexData &vertex_data) const
Get the index associated to the given vertex data.
void assignIf(const ConstIteratorT, IteratorT, std::false_type) const
Does nothing.
void addData(pcl::PointCloud< DataT > &cloud, const DataT &data, std::true_type)
Add mesh data.
pcl::PointCloud< FaceData > FaceDataCloud
bool isManifold(std::true_type) const
Always manifold.
bool isValid(const EdgeIndex &idx_edge) const
Check if the given edge index is a valid index into the mesh.
void connectNewNew(const HalfEdgeIndex &idx_he_ab, const HalfEdgeIndex &idx_he_bc, const VertexIndex &idx_v_b, std::false_type)
Both half-edges are new (non-manifold version).
VertexAroundFaceCirculator getVertexAroundFaceCirculator(const FaceIndex &idx_face) const
void resizeData(DataCloudT &, const std::size_t n, const typename DataCloudT::value_type &data, std::true_type) const
Resize the mesh data.
pcl::geometry::VertexIndex VertexIndex
void setTerminatingVertexIndex(const HalfEdgeIndex &idx_half_edge, const VertexIndex &idx_terminating_vertex)
Set the terminating vertex index to a given half-edge.
bool isValid(const FaceIndex &idx_face) const
Check if the given face index is a valid index into the mesh.
void reserveData(DataCloudT &cloud, const std::size_t n, std::true_type) const
Reserve storage space for the mesh data.
void reserveEdges(const std::size_t n)
Reserve storage space for n edges (2*n storage space is reserved for the half-edges).
FaceIndex addFace(const VertexIndices &vertices, const FaceData &face_data=FaceData(), const EdgeData &edge_data=EdgeData(), const HalfEdgeData &half_edge_data=HalfEdgeData())
Add a face to the mesh.
pcl::geometry::HalfEdge HalfEdge
Vertex & getVertex(const VertexIndex &idx_vertex)
Get the vertex for the given index.
void connectPrevNext(const HalfEdgeIndex &idx_he_ab, const HalfEdgeIndex &idx_he_bc)
Connect the next and prev indices of the two half-edges with each other.
bool isBoundary(const FaceIndex &idx_face) const
Check if the given face lies on the boundary.
bool isDeleted(const HalfEdgeIndex &idx_he) const
Check if the given half-edge is marked as deleted.
std::vector< HalfEdge > HalfEdges
bool isIsolated(const VertexIndex &idx_vertex) const
Check if the given vertex is isolated (not connected to other elements).
void makeAdjacent(const HalfEdgeIndex &idx_he_ab, const HalfEdgeIndex &idx_he_bc, HalfEdgeIndex &idx_free_half_edge)
Make the half-edges bc the next half-edge of ab.
Face getFace(const FaceIndex &idx_face) const
Get the face for the given index.
void assignIf(const ConstIteratorT source, IteratorT target, std::true_type) const
Assign the source iterator to the target iterator.
FaceAroundFaceCirculator getFaceAroundFaceCirculator(const FaceIndex &idx_face) const
bool isDeleted(const VertexIndex &idx_vertex) const
Check if the given vertex is marked as deleted.
HalfEdgeIndex getOutgoingHalfEdgeIndex(const VertexIndex &idx_vertex) const
Get the outgoing half-edge index to a given vertex.
typename Vertices::const_iterator VertexConstIterator
bool isManifold(const VertexIndex &idx_vertex, std::false_type) const
Check if the given vertex is manifold.
bool isBoundary(const FaceIndex &idx_face) const
Check if the given face lies on the boundary.
void setFace(const FaceIndex &idx_face, const Face &face)
Set the face at the given index.
void connectNewNew(const HalfEdgeIndex &idx_he_ab, const HalfEdgeIndex &idx_he_bc, const VertexIndex &idx_v_b, std::true_type)
Both half-edges are new (manifold version).
bool isEqualTopology(const Self &other) const
Check if the other mesh has the same topology as this mesh.
VertexIndex addVertex(const VertexData &vertex_data=VertexData())
Add a vertex to the mesh.
FaceAroundVertexCirculator getFaceAroundVertexCirculator(const HalfEdgeIndex &idx_outgoing_half_edge) const
VertexDataCloud getVertexDataCloud() const
Get the stored vertex data.
void setPrevHalfEdgeIndex(const HalfEdgeIndex &idx_half_edge, const HalfEdgeIndex &idx_prev_half_edge)
Set the previous half-edge index to a given half-edge.
void reserveVertices(const std::size_t n)
Reserve storage space n vertices.
typename HalfEdges::const_iterator HalfEdgeConstIterator
void resizeFaces(const std::size_t n, const FaceData &data=FaceData())
Resize the faces to n elements.
pcl::geometry::VertexAroundFaceCirculator< const Self > VertexAroundFaceCirculator
FaceIndex getOppositeFaceIndex(const HalfEdgeIndex &idx_half_edge) const
Get the face index to a given half-edge.
typename MeshTraitsT::IsManifold IsManifold
pcl::PointCloud< HalfEdgeData > HalfEdgeDataCloud
bool checkTopology2(const HalfEdgeIndex &idx_he_ab, const HalfEdgeIndex &idx_he_bc, const bool is_new_ab, const bool is_new_bc, const bool, std::vector< bool >::reference make_adjacent_ab_bc, HalfEdgeIndex &idx_free_half_edge, std::false_type) const
Check if the half-edge bc is the next half-edge of ab.
typename MeshTraitsT::FaceData FaceData
pcl::geometry::InnerHalfEdgeAroundFaceCirculator< const Self > InnerHalfEdgeAroundFaceCirculator
HalfEdgeDataCloud & getHalfEdgeDataCloud()
Get access to the stored half-edge data.
void connectOldOld(const HalfEdgeIndex &, const HalfEdgeIndex &, const VertexIndex &, std::true_type)
Both half-edges are old (manifold version).
void markDeleted(const EdgeIndex &idx_edge)
Mark the given edge (both half-edges) as deleted.
std::vector< VertexIndex > VertexIndices
void connectNewOld(const HalfEdgeIndex &idx_he_ab, const HalfEdgeIndex &idx_he_bc, const VertexIndex &idx_v_b)
The first half-edge is new.
FaceAroundVertexCirculator getFaceAroundVertexCirculator(const VertexIndex &idx_vertex) const
pcl::geometry::VertexAroundVertexCirculator< const Self > VertexAroundVertexCirculator
pcl::geometry::EdgeIndex EdgeIndex
bool isValid(const VertexIndex &idx_vertex) const
Check if the given vertex index is a valid index into the mesh.
VertexIndex getTerminatingVertexIndex(const HalfEdgeIndex &idx_half_edge) const
Get the terminating vertex index to a given half-edge.
EdgeDataCloud getEdgeDataCloud() const
Get the stored edge data.
VertexDataCloud & getVertexDataCloud()
Get access to the stored vertex data.
void deleteFace(const FaceIndex &idx_face, std::false_type)
Non-manifold version of deleteFace.
void cleanUp()
Removes all mesh elements and data that are marked as deleted.
bool isManifold(std::false_type) const
Check if all vertices in the mesh are manifold.
void clearData(DataCloudT &cloud, std::true_type) const
Clear the mesh data.
FaceIndex getFaceIndex(const FaceData &face_data) const
Get the index associated to the given face data.
void setFaceIndex(const HalfEdgeIndex &idx_half_edge, const FaceIndex &idx_face)
Set the face index to a given half-edge.
HalfEdgeIndex addEdge(const VertexIndex &idx_v_a, const VertexIndex &idx_v_b, const HalfEdgeData &he_data, const EdgeData &edge_data)
Add an edge between the two given vertices and connect them with the vertices.
std::integral_constant< bool, !std::is_same< HalfEdgeData, pcl::geometry::NoData >::value > HasHalfEdgeData
void setInnerHalfEdgeIndex(const FaceIndex &idx_face, const HalfEdgeIndex &idx_inner_half_edge)
Set the inner half-edge index to a given face.
FaceIndex getFaceIndex(const HalfEdgeIndex &idx_half_edge) const
Get the face index to a given half-edge.
void incrementIf(IteratorT &, std::false_type) const
Does nothing.
bool isBoundary(const FaceIndex &idx_face, std::false_type) const
Check if any edge of the face lies on the boundary.
bool isDeleted(const EdgeIndex &idx_edge) const
Check if the given edge (any of the two half-edges) is marked as deleted.
void connectOldOld(const HalfEdgeIndex &, const HalfEdgeIndex &idx_he_bc, const VertexIndex &idx_v_b, std::false_type)
Both half-edges are old (non-manifold version).
bool isBoundary(const EdgeIndex &idx_edge) const
Check if the given edge lies on the boundary (any of the two half-edges lies on the boundary.
void reconnectNBNB(const HalfEdgeIndex &idx_he_bc, const HalfEdgeIndex &, const VertexIndex &idx_v_b, std::false_type)
Both edges are not on the boundary.
bool isManifold() const
Check if the mesh is manifold.
void deleteFace(const FaceIndex &idx_face, std::true_type)
Manifold version of deleteFace.
bool isManifold(const VertexIndex &idx_vertex) const
Check if the given vertex is manifold.
OuterHalfEdgeAroundFaceCirculator getOuterHalfEdgeAroundFaceCirculator(const FaceIndex &idx_face) const
typename Vertices::iterator VertexIterator
void clear()
Clear all mesh elements and data.
void incrementIf(IteratorT &it, std::true_type) const
Increment the iterator.
FaceDataCloud & getFaceDataCloud()
Get access to the stored face data.
pcl::geometry::OutgoingHalfEdgeAroundVertexCirculator< const Self > OutgoingHalfEdgeAroundVertexCirculator
IndexContainerT remove(ElementContainerT &elements, DataContainerT &data_cloud)
Removes mesh elements and data that are marked as deleted from the container.
typename Faces::iterator FaceIterator
pcl::geometry::HalfEdgeIndex HalfEdgeIndex
FaceAroundFaceCirculator getFaceAroundFaceCirculator(const HalfEdgeIndex &idx_inner_half_edge) const
HalfEdgeIndex getIncomingHalfEdgeIndex(const VertexIndex &idx_vertex) const
Get the incoming half-edge index to a given vertex.
bool checkTopology1(const VertexIndex &idx_v_a, const VertexIndex &idx_v_b, HalfEdgeIndex &idx_he_ab, std::vector< bool >::reference is_new_ab, std::false_type) const
Non manifold version of checkTopology1.
pcl::PointCloud< EdgeData > EdgeDataCloud
HalfEdge & getHalfEdge(const HalfEdgeIndex &idx_he)
Get the half-edge for the given index.
Face & getFace(const FaceIndex &idx_face)
Get the face for the given index.
HalfEdge getHalfEdge(const HalfEdgeIndex &idx_he) const
Get the half-edge for the given index.
bool isManifold(const VertexIndex &, std::true_type) const
Always manifold.
Read / write the half-edge mesh from / to a file.
Circulates clockwise around a face and returns an index to the outer half-edge (the target).
HalfEdgeIndex getTargetIndex() const
Get the index to the outer half-edge.
Circulates counter-clockwise around a vertex and returns an index to the outgoing half-edge (the targ...
HalfEdgeIndex getTargetIndex() const
Get the index to the outgoing half-edge.
Circulates clockwise around a face and returns an index to the terminating vertex of the inner half-e...
VertexIndex getTargetIndex() const
Get the index to the target vertex.
Circulates counter-clockwise around a vertex and returns an index to the terminating vertex of the ou...
VertexIndex getTargetIndex() const
Get the index to the target vertex.
HalfEdgeIndex getCurrentHalfEdgeIndex() const
Get the half-edge that is currently stored in the circulator.
A vertex is a node in the mesh.
#define PCL_MAKE_ALIGNED_OPERATOR_NEW
Macro to signal a class requires a custom allocator.
pcl::detail::MeshIndex< struct FaceIndexTag > FaceIndex
Index used to access elements in the half-edge mesh.
pcl::detail::MeshIndex< struct EdgeIndexTag > EdgeIndex
Index used to access elements in the half-edge mesh.
pcl::detail::MeshIndex< struct HalfEdgeIndexTag > HalfEdgeIndex
Index used to access elements in the half-edge mesh.
pcl::detail::MeshIndex< struct VertexIndexTag > VertexIndex
Index used to access elements in the half-edge mesh.
Defines functions, macros and traits for allocating and using memory.
float distance(const PointT &p1, const PointT &p2)
HalfEdgeIndex toHalfEdgeIndex(const EdgeIndex &index, const bool get_first=true)
Convert the given edge index to a half-edge index.
Defines all the PCL and non-PCL macros used.
Describes a set of vertices in a polygon mesh, by basically storing an array of indices.