IGL_INLINE void igl::copyleft::cgal::outer_facet(
const Eigen::PlainObjectBase<DerivedV> & V,
const Eigen::PlainObjectBase<DerivedF> & F,
const Eigen::PlainObjectBase<DerivedI> & I,
IndexType & f,
bool & flipped) {
// Algorithm:
//
// 1. Find an outer edge (s, d).
//
// 2. Order adjacent facets around this edge. Because the edge is an
// outer edge, there exists a plane passing through it such that all its
// adjacent facets lie on the same side. The implementation of
// order_facets_around_edge() will find a natural start facet such that
// The first and last facets according to this order are on the outside.
//
// 3. Because the vertex s is an outer vertex by construction (see
// implemnetation of outer_edge()). The first adjacent facet is facing
// outside (i.e. flipped=false) if it has positive X normal component.
// If it has zero normal component, it is facing outside if it contains
// directed edge (s, d).
//typedef typename DerivedV::Scalar Scalar;
typedef typename DerivedV::Index Index;
Index s,d;
Eigen::Matrix<Index,Eigen::Dynamic,1> incident_faces;
outer_edge(V, F, I, s, d, incident_faces);
assert(incident_faces.size() > 0);
auto convert_to_signed_index = [&](size_t fid) -> int{
if ((F(fid, 0) == s && F(fid, 1) == d) ||
(F(fid, 1) == s && F(fid, 2) == d) ||
(F(fid, 2) == s && F(fid, 0) == d) ) {
return int(fid+1) * -1;
} else {
return int(fid+1);
}
};
auto signed_index_to_index = [&](int signed_id) -> size_t {
return size_t(abs(signed_id) - 1);
};
std::vector<int> adj_faces(incident_faces.size());
std::transform(incident_faces.data(),
incident_faces.data() + incident_faces.size(),
adj_faces.begin(),
convert_to_signed_index);
DerivedV pivot_point = V.row(s);
pivot_point(0, 0) += 1.0;
Eigen::VectorXi order;
order_facets_around_edge(V, F, s, d, adj_faces, pivot_point, order);
f = signed_index_to_index(adj_faces[order[0]]);
flipped = adj_faces[order[0]] > 0;
}
bool PointCloud::save(const std::string& filename)
{
if (QString(filename.c_str()).right(3) == "ply")
{
PCLPointCloud point_cloud;
osg::Vec3 pivot_point(-13.382786, 50.223461, 917.477600);
osg::Vec3 axis_normal(-0.054323, -0.814921, -0.577020);
osg::Matrix transformation = osg::Matrix::translate(-pivot_point)*osg::Matrix::rotate(axis_normal, osg::Vec3(0, 0, 1));
for (size_t i = 0; i < points_num_; ++ i)
{
osg::Vec3 point(at(i).x, at(i).y, at(i).z);
point = transformation.preMult(point);
point_cloud.push_back(PCLPoint(point.x(), point.y(), point.z()));
}
pcl::PLYWriter ply_writer;
if (ply_writer.write<PCLPoint>(filename, point_cloud) != 0)
return false;
}
else
{
pcl::PCDWriter pcd_writer;
if (pcd_writer.writeBinaryCompressed<PCLRichPoint>(filename, *this) != 0)
return false;
}
return true;
}
