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#ifndef _TEXTURED_TRIANGLE_H_
#define _TEXTURED_TRIANGLE_H_

//####################################################################
// Includes:
//####################################################################

#include <CGAL/Exact_predicates_inexact_constructions_kernel.h>
#include <CGAL/Constrained_Delaunay_triangulation_2.h>

typedef CGAL::Exact_predicates_inexact_constructions_kernel K1;
//typedef CGAL::Triangulation_vertex_base_2<K1>                     Vb1;
//typedef CGAL::Constrained_triangulation_face_base_2<K1>           Fb1;
//typedef CGAL::Triangulation_data_structure_2<Vb1,Fb1>              TDS1;
//typedef CGAL::Exact_predicates_tag                               Itag1;
//typedef CGAL::Constrained_Delaunay_triangulation_2<K1, TDS1, Itag1> CDT2;




//System Includes
#include <pcl/segmentation/sac_segmentation.h>
#include <pcl/filters/project_inliers.h>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl_ros/transforms.h>
#include <pcl/ModelCoefficients.h>
#include <tf/tf.h>
#include <visualization_msgs/Marker.h>
#include <queue>

#define DONT_INTERSECT    0
#define DO_INTERSECT      1
#define COLLINEAR         2

#define SAME_SIGNS( a, b )  \
        (((long) ((unsigned long) a ^ (unsigned long) b)) >= 0 )



class class_textured_vertex
{
        public:
                class_textured_vertex(void){};
                class_textured_vertex(float vx, float vy, float vz, float vrgb);
                ~class_textured_vertex(void){};

                class_textured_vertex operator=(class_textured_vertex vin)
                {
                        class_textured_vertex v_out;
                        v_out.x = vin.x;        
                        v_out.y = vin.y;        
                        v_out.z = vin.z;        
                        v_out.rgb = vin.rgb;    
                        return v_out;

                }

                float x,y,z,rgb;

};

class class_textured_triangle
{
        public:
                class_textured_triangle(void){};
                class_textured_triangle(class_textured_vertex v0, class_textured_vertex v1,class_textured_vertex v2, float weight=0, int provenience=-1);

                ~class_textured_triangle(void){};

                class_textured_vertex v[3];     
                float weight;
                float provenience;

                bool overlaps(class_textured_triangle* t);
                void print_info(void)
                {
                        ROS_INFO("v0 x=%f y=%f z=%f rgb=%f\n v1 x=%f y=%f z=%f rgb=%f\n v2 x=%f y=%f z=%f rgb=%f\n", v[0].x, v[0].y, v[0].z, v[0].rgb, v[1].x, v[1].y, v[1].z, v[1].rgb,v[2].x, v[2].y, v[2].z, v[2].rgb);      
                }

        private: 
                //  

                int test2( double px, double py, double m, double b ) {    
                        if (py < m * px + b ) {
                                return -1; // point is under line
                        }else if ( py == m * px + b ){
                                return 0; // point is on line
                        } else {
                                return 1; // point is over line
                        }
                }

                int test1(double px, double py, double m,double b, double lx,double ly) {     
                        return (test2(px,py, m,b) == test2(lx,ly,m,b));    
                } 

                

                int point_inside_triangle(double x0,double y0,double x1,double y1,double x2,double y2,double px, double py) 
                {
                        int line1, line2, line3;    
                        double m01 = (y1-y0)/(x1-x0);    
                        double b01 = m01 * -x1 + y1;    
                        double m02, m12, b02, b12;    
                        m02 = (y2-y0)/(x2-x0);    
                        m12 = (y2-y1)/(x2-x1);    
                        b02 = m02 * -x2 + y2;    
                        b12 = m12 * -x2 + y2;


                        // vertical line checks

                        if( x1 == x0 ) {    
                                line1 = ( (px < x0) == (x2 < x0) );    
                        } else {    
                                line1 = test1( px, py, m01, b01,x2,y2);    
                        }

                        if( x1 == x2 ) {    
                                line2 = ( (px < x2) == (x0 < x2) );    
                        } else {    
                                line2 = test1(px,py, m12, b12,x0,y0);    
                        }

                        if( x2 == x0 ) {    
                                line3 = ( (px < x0 ) == (x1 < x0) );} else {    
                                        line3 = test1(px, py, m02,b02,x1,y1);    
                                }

                        if(line1==-1 && line2==-1 && line3==-1)
                                return 1;
                        else if(line1==1 && line2==1 && line3==1)
                                return 1;
                        else 
                                return 0;


                        //return line1 && line2 && line3;
                }


                int lineSegmentIntersection(
                                float Ax, float Ay,
                                float Bx, float By,
                                float Cx, float Cy,
                                float Dx, float Dy,
                                double *X, double *Y) {

                        double  distAB, theCos, theSin, newX, ABpos ;

                        //  Fail if either line segment is zero-length.
                        if (((Ax==Bx) && (Ay==By)) || ((Cx==Dx) && (Cy==Dy))) return DONT_INTERSECT;

                        //  Fail if the segments share an end-point.
                        if (((Ax==Cx) && (Ay==Cy)) || ((Bx==Cx) && (By==Cy))
                                        ||  ((Ax==Dx) && (Ay==Dy)) || ((Bx==Dx) && (By==Dy))) {
                                return DONT_INTERSECT; }

                        //  (1) Translate the system so that point A is on the origin.
                        Bx-=Ax; By-=Ay;
                        Cx-=Ax; Cy-=Ay;
                        Dx-=Ax; Dy-=Ay;

                        //  Discover the length of segment A-B.
                        distAB=sqrt(Bx*Bx+By*By);

                        //  (2) Rotate the system so that point B is on the positive X axis.
                        theCos=Bx/distAB;
                        theSin=By/distAB;
                        newX=Cx*theCos+Cy*theSin;
                        Cy  =Cy*theCos-Cx*theSin; Cx=newX;
                        newX=Dx*theCos+Dy*theSin;
                        Dy  =Dy*theCos-Dx*theSin; Dx=newX;

                        //  Fail if segment C-D doesn't cross line A-B.
                        if ((Cy<0. && Dy<0.) || (Cy>=0. && Dy>=0.)) return DONT_INTERSECT;

                        //  (3) Discover the position of the intersection point along line A-B.
                        ABpos=Dx+(Cx-Dx)*Dy/(Dy-Cy);

                        //  Fail if segment C-D crosses line A-B outside of segment A-B.
                        if (ABpos<0. || ABpos>distAB) return DONT_INTERSECT;

                        //  (4) Apply the discovered position to line A-B in the original coordinate system.
                        *X=Ax+ABpos*theCos;
                        *Y=Ay+ABpos*theSin;

                        //  Success.
                        return DO_INTERSECT;
                }


};

typedef enum
{
        FORCE=55,
        CHECK
}t_add_method;


#define ADDED_TRIANGLE 1
#define DID_NOT_ADD_TRIANGLE 0

class class_texture_set
{
        public:

                //methods
                class_texture_set(void)
                {
                        next_key=0;
                };

                ~class_texture_set(void){};

                int add_triangle(class_textured_vertex v0, class_textured_vertex v1, class_textured_vertex v2, int provenience, float weight, t_add_method method);
                int set_transform(tf::Transform* st);
                int export_to_pc(void);

                //Variables
                std::vector<boost::shared_ptr<class_textured_triangle> > set;
                pcl::PointCloud<pcl::PointXYZRGB> pc;
                std::vector<int> pc_proveniences;
                tf::Transform transform;
                size_t next_key;
};


#endif

---

polygon_primitives_extraction
Author(s): Miguel Oliveira
autogenerated on Wed Jul 23 04:35:24 2014