polygon_boolean_operations.cpp

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#ifndef _polygon_boolean_operations_CPP_
#define _polygon_boolean_operations_CPP_

#include <bo_polygon2d/polygon_boolean_operations.h>


class_polygon_boolean_operations::class_polygon_boolean_operations(void){};
class_polygon_boolean_operations::~class_polygon_boolean_operations(void){};

int class_polygon_boolean_operations::insert(const pcl::PointCloud<pcl::PointXYZ>::Ptr p_pc)
{
        pcl::PointCloud<pcl::PointXYZ> pc;
        pc=*p_pc;
        return insert(&pc);
}

PBO_Polygon_2 class_polygon_boolean_operations::from_pcl_to_cgalpolygon(pcl::PointCloud<pcl::PointXYZ>* pc)
{
        PS_CGALPolygon_2 polygon;

        //declare de point cloud in local coordinates
        pcl::PointCloud<pcl::PointXYZ> pc_local; 

        //transform the pc to local coordinates
        transform_global_to_local(pc, &pc_local);

        for (size_t i=0; i< pc_local.points.size(); i++) //Build the CGAL polygon
        {
                if (!isnan(pc_local.at(i).x))
                {
                        polygon.push_back(PS_CGALPoint_2(
                                                pc_local.at(i).x,
                                                pc_local.at(i).y));
                }
        }

        return polygon;
}

int class_polygon_boolean_operations::insert(pcl::PointCloud<pcl::PointXYZ>* pc)
{
        //declare a polygon
        PS_CGALPolygon_2 polygon = from_pcl_to_cgalpolygon(pc);

        if (simplify_polygon(&polygon))
        {
                S.insert(polygon); //Push back on the polygons vector
                return 1;
        }
        else
        {
                ROS_ERROR("Could not insert polygon. Input polygon is not simple and could not simplify");
                print_polygon(polygon);
                return 0;
        }
}

int class_polygon_boolean_operations::join(pcl::PointCloud<pcl::PointXYZ>* pc)
{
        //declare a polygon
        PS_CGALPolygon_2 polygon = from_pcl_to_cgalpolygon(pc);

        if (simplify_polygon(&polygon))
        {
                S.join(polygon); //Push back on the polygons vector
                return 1;
        }
        else
        {
                ROS_ERROR("Could not join polygon. Input polygon is not simple and could not simplify");
                print_polygon(polygon);
                return 0;
        }
}

int class_polygon_boolean_operations::intersection(pcl::PointCloud<pcl::PointXYZ>* pc)
{
        //declare a polygon
        PS_CGALPolygon_2 polygon = from_pcl_to_cgalpolygon(pc);

        if (simplify_polygon(&polygon))
        {
                S.intersection(polygon); //Push back on the polygons vector
                return 1;
        }
        else
        {
                ROS_ERROR("Could not intersect polygon. Input polygon is not simple and could not simplify");
                print_polygon(polygon);
                return 0;
        }
}

int class_polygon_boolean_operations::complement(void)
{
        S.complement();
        return 1;
}


int class_polygon_boolean_operations::get_largest_pcl(pcl::PointCloud<pcl::PointXYZ>* pc_out)
{
        std::list<PBO_Polygon_with_holes_2> res;
        std::list<PBO_Polygon_with_holes_2>::const_iterator it;

        std::cout << "The result contains " << S.number_of_polygons_with_holes() << " components:" << std::endl;

        S.polygons_with_holes (std::back_inserter (res));
                        
        for (it = res.begin(); it != res.end(); ++it) 
        {
                pcl::PointCloud<pcl::PointXYZ> pc_out_local;

                PS_CGALPolygon_2::Vertex_const_iterator vit;
                for (vit = (*it).outer_boundary().vertices_begin(); vit != (*it).outer_boundary().vertices_end(); ++vit)
                {
                        pcl::PointXYZ pt;
                        pt.x = CGAL::to_double((*vit).x());
                        pt.y = CGAL::to_double((*vit).y());
                        pt.z = 0;
                        pc_out_local.push_back(pt);
                }

                //transform the pc to global coordinates
                
                if (it==res.begin())
                        transform_local_to_global(&pc_out_local, pc_out);
                else
                {
                        if (pc_out_local.points.size() > pc_out->points.size())
                                transform_local_to_global(&pc_out_local, pc_out);
                
                }

        }       



        return 1;
}



int class_polygon_boolean_operations::get_all_pcls(std::vector<pcl::PointCloud<pcl::PointXYZ> >* pc_out_vector)
{
        std::list<PBO_Polygon_with_holes_2> res;
        std::list<PBO_Polygon_with_holes_2>::const_iterator it;

        pc_out_vector->erase(pc_out_vector->begin(), pc_out_vector->end());

        std::cout << "The result contains " << S.number_of_polygons_with_holes() << " components:" << std::endl;

        S.polygons_with_holes (std::back_inserter (res));
                        
        int k=0;
        for (it = res.begin(); it != res.end(); ++it) 
        {

                pcl::PointCloud<pcl::PointXYZ> pc_out_local;

                ROS_INFO("polygon %d is simple %d",k,(*it).outer_boundary().is_simple());

                
                PS_CGALPolygon_2::Vertex_const_iterator vit;
                for (vit = (*it).outer_boundary().vertices_begin(); vit != (*it).outer_boundary().vertices_end(); ++vit)
                {
                        pcl::PointXYZ pt;
                        pt.x = CGAL::to_double((*vit).x());
                        pt.y = CGAL::to_double((*vit).y());
                        pt.z = 0;
                        pc_out_local.push_back(pt);
                }

                //transform the pc to global coordinates
                pcl::PointCloud<pcl::PointXYZ> pc_out;
                transform_local_to_global(&pc_out_local, &pc_out);

                pc_out_vector->push_back(pc_out);
        }
        return 1;
}

int class_polygon_boolean_operations::get_first_pcl(pcl::PointCloud<pcl::PointXYZ>* pc_out)
{
        std::list<PBO_Polygon_with_holes_2> res;
        std::list<PBO_Polygon_with_holes_2>::const_iterator it;

        std::cout << "The result contains " << S.number_of_polygons_with_holes() << " components:" << std::endl;

        S.polygons_with_holes (std::back_inserter (res));
                        
        for (it = res.begin(); it != res.end(); ++it) 
        {
                pcl::PointCloud<pcl::PointXYZ> pc_out_local;

                PS_CGALPolygon_2::Vertex_const_iterator vit;
                for (vit = (*it).outer_boundary().vertices_begin(); vit != (*it).outer_boundary().vertices_end(); ++vit)
                {
                        pcl::PointXYZ pt;
                        pt.x = CGAL::to_double((*vit).x());
                        pt.y = CGAL::to_double((*vit).y());
                        pt.z = 0;
                        pc_out_local.push_back(pt);
                }

                //transform the pc to global coordinates
                transform_local_to_global(&pc_out_local, pc_out);

                break;
        }       



        return 1;
}

                int class_polygon_boolean_operations::print(void)
                {
                        // Print the result.
                        std::list<PBO_Polygon_with_holes_2> res;
                        std::list<PBO_Polygon_with_holes_2>::const_iterator it;

                        std::cout << "The result contains " << S.number_of_polygons_with_holes() << " components:" << std::endl;

                        S.polygons_with_holes (std::back_inserter (res));

                        for (it = res.begin(); it != res.end(); ++it) 
                        {
                                std::cout << "--> ";
                                print_polygon_with_holes (*it);
                        }       

                        return 1;
                }


#endif