template <typename PointInT> void
pcl::OrganizedFastMesh<PointInT>::makeLeftCutMesh (std::vector<pcl::Vertices>& polygons)
{
int last_column = input_->width - triangle_pixel_size_columns_;
int last_row = input_->height - triangle_pixel_size_rows_;
int i = 0, index_down = 0, index_right = 0, index_down_right = 0, idx = 0;
int y_big_incr = triangle_pixel_size_rows_ * input_->width,
x_big_incr = y_big_incr + triangle_pixel_size_columns_;
// Reserve enough space
polygons.resize (input_->width * input_->height * 2);
// Go over the rows first
for (int y = 0; y < last_row; y += triangle_pixel_size_rows_)
{
// Initialize a new row
i = y * input_->width;
index_right = i + triangle_pixel_size_columns_;
index_down = i + y_big_incr;
index_down_right = i + x_big_incr;
// Go over the columns
for (int x = 0; x < last_column; x += triangle_pixel_size_columns_,
i += triangle_pixel_size_columns_,
index_right += triangle_pixel_size_columns_,
index_down += triangle_pixel_size_columns_,
index_down_right += triangle_pixel_size_columns_)
{
if (isValidTriangle (i, index_down, index_right))
if (store_shadowed_faces_ || !isShadowedTriangle (i, index_down, index_right))
addTriangle (i, index_down, index_right, idx++, polygons);
if (isValidTriangle (index_right, index_down, index_down_right))
if (store_shadowed_faces_ || !isShadowedTriangle (index_right, index_down, index_down_right))
addTriangle (index_right, index_down, index_down_right, idx++, polygons);
}
}
polygons.resize (idx);
}
void checkCombinations(unsigned long arr[], unsigned long resArr[], int start, int end, int r, int index)
{
// termination condition
if(index == r)
{
if(!isValidTriangle(resArr))
count ++;
return;
}
for(int i=start; i < end; i++)
{
resArr[index] = arr[i];
checkCombinations(arr, resArr, i + 1, end, 3, index + 1);
// removing duplicates
//while(arr[i] == arr[i+1])
// i++;
}
}
template <typename PointInT> void
pcl::OrganizedFastMesh<PointInT>::makeAdaptiveCutMesh (std::vector<pcl::Vertices>& polygons)
{
int last_column = input_->width - triangle_pixel_size_columns_;
int last_row = input_->height - triangle_pixel_size_rows_;
int i = 0, index_down = 0, index_right = 0, index_down_right = 0, idx = 0;
int y_big_incr = triangle_pixel_size_rows_ * input_->width,
x_big_incr = y_big_incr + triangle_pixel_size_columns_;
// Reserve enough space
polygons.resize (input_->width * input_->height * 2);
// Go over the rows first
for (int y = 0; y < last_row; y += triangle_pixel_size_rows_)
{
// Initialize a new row
i = y * input_->width;
index_right = i + triangle_pixel_size_columns_;
index_down = i + y_big_incr;
index_down_right = i + x_big_incr;
// Go over the columns
for (int x = 0; x < last_column; x += triangle_pixel_size_columns_,
i += triangle_pixel_size_columns_,
index_right += triangle_pixel_size_columns_,
index_down += triangle_pixel_size_columns_,
index_down_right += triangle_pixel_size_columns_)
{
const bool right_cut_upper = isValidTriangle (i, index_down_right, index_right);
const bool right_cut_lower = isValidTriangle (i, index_down, index_down_right);
const bool left_cut_upper = isValidTriangle (i, index_down, index_right);
const bool left_cut_lower = isValidTriangle (index_right, index_down, index_down_right);
if (right_cut_upper && right_cut_lower && left_cut_upper && left_cut_lower)
{
float dist_right_cut = fabsf (input_->points[index_down].z - input_->points[index_right].z);
float dist_left_cut = fabsf (input_->points[i].z - input_->points[index_down_right].z);
if (dist_right_cut >= dist_left_cut)
{
if (store_shadowed_faces_ || !isShadowedTriangle (i, index_down_right, index_right))
addTriangle (i, index_down_right, index_right, idx++, polygons);
if (store_shadowed_faces_ || !isShadowedTriangle (i, index_down, index_down_right))
addTriangle (i, index_down, index_down_right, idx++, polygons);
}
else
{
if (store_shadowed_faces_ || !isShadowedTriangle (i, index_down, index_right))
addTriangle (i, index_down, index_right, idx++, polygons);
if (store_shadowed_faces_ || !isShadowedTriangle (index_right, index_down, index_down_right))
addTriangle (index_right, index_down, index_down_right, idx++, polygons);
}
}
else
{
if (right_cut_upper)
if (store_shadowed_faces_ || !isShadowedTriangle (i, index_down_right, index_right))
addTriangle (i, index_down_right, index_right, idx++, polygons);
if (right_cut_lower)
if (store_shadowed_faces_ || !isShadowedTriangle (i, index_down, index_down_right))
addTriangle (i, index_down, index_down_right, idx++, polygons);
if (left_cut_upper)
if (store_shadowed_faces_ || !isShadowedTriangle (i, index_down, index_right))
addTriangle (i, index_down, index_right, idx++, polygons);
if (left_cut_lower)
if (store_shadowed_faces_ || !isShadowedTriangle (index_right, index_down, index_down_right))
addTriangle (index_right, index_down, index_down_right, idx++, polygons);
}
}
}
polygons.resize (idx);
}