polygon_intersection.cpp

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#ifndef _POLYGON_INTERSECTION_CPP_
#define _POLYGON_INTERSECTION_CPP_

#include "polygon_intersection.h"

int class_polygon_intersection::clear_all_polygons(void){polygons.erase(polygons.begin(), polygons.end());return 1;};


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

int class_polygon_intersection::add_polygon_to_list(pcl::PointCloud<pcl::PointXYZ>* pc)
{
        //declare a polygon
        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(CGALPoint_2(
                                                pc_local.at(i).x,
                                                pc_local.at(i).y));
                        //printf("pc_local.at(%d).z = %3.2f\n", (int)i, pc_local.at(i).z);
                }
        }

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

int class_polygon_intersection::compute_polygon_intersection(pcl::PointCloud<pcl::PointXYZ>* pc_out)
{
        CGALPwh_list_2 polygon_out;
        //CGALPwh pol;
        CGALPwh_list_2::const_iterator  it;

        //CGAL::intersection (polygons[0], polygons[1], std::back_inserter(polygon_out));
        CGAL::intersection (polygons[0], polygons[1], std::back_inserter(polygon_out));

        for (size_t k=2; k<polygons.size(); k++)
        {

                it = polygon_out.begin();

                CGAL::intersection (*it, polygons[k], std::back_inserter(polygon_out));
        }

        int count=0;
        for (it = polygon_out.begin(); it != polygon_out.end(); ++it)
        {
                count++;
        }

        if(count!=1)
        {
                ROS_ERROR("Problem in polygon interception. Output was %d polygons",count);
                return 0;
        }
        else
        {
                it = polygon_out.begin();

                if (!(*it).is_unbounded())
                {
                        //ROS_INFO("Polygon is bounded and has %d vertices", (*it).outer_boundary().size());
                        pcl::PointCloud<pcl::PointXYZ> pc_out_local;

                        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 = (*vit).x();
                                pt.y = (*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);
                }

        }
        return 1;}


int class_polygon_intersection::compute_polygon_union(std::vector<pcl::PointCloud<pcl::PointXYZ> > *pc_list)
{
        std::vector<CGALPolygon_with_holes_2> polygon_out_list;

        printf("polygon union: i will do union of %d polygons\n", (int)polygons.size());
        for (size_t i=0; i< polygons.size(); i++)
        {
                printf("polygon %d has %d vertices\n", (int)i, (int)polygons[i].size());
        }

        if (polygons.size()>0)
        {
                //insert the first polygon to the list
                CGALPolygon_with_holes_2 polygon_out;
                CGAL::join(polygons[0], polygons[0], polygon_out);
                polygon_out_list.push_back(polygon_out);

                for (size_t i=1; i<polygons.size(); i++) //go though all polygons
                {
                        printf("Computing for plg %d\n", (int)i);
                        bool was_merged=false;
                        for (size_t j=0; j<polygon_out_list.size(); j++) //go through the list
                        {

                                if (CGAL::join(polygons[i], polygon_out_list[j], polygon_out_list[j])) //an union was possible
                                {
                                        printf("plg %d was merged to list %d\n",(int)i,(int)j);
                                        was_merged=true;
                                        break;
                                }
                                else
                                {
                                        printf("plg %d cannot be merged with plg list %d\n",(int)i,(int)j);
                                }

                        }

                        if (was_merged==false)
                        {
                                CGALPolygon_with_holes_2 polygon_out;
                                CGAL::join(polygons[i], polygons[i], polygon_out);
                                polygon_out_list.push_back(polygon_out);
                                printf("Adding plg %d to list. Now has %d size\n",(int)i, (int)polygon_out_list.size());
                        }

                }

                //now try to compact the list
                std::vector<CGALPolygon_with_holes_2> polygon_out_list1;

                printf("Will try to compact list\n");

                //insert the first polygon to the list
                polygon_out_list1.push_back(polygon_out_list[0]);

                for (size_t i=1; i<polygon_out_list.size(); i++) //go though all polygon in polygonlist
                {
                        printf("Computing for plg %d\n", (int)i);
                        bool was_merged=false;
                        for (size_t j=0; j<polygon_out_list1.size(); j++) //go through the list
                        {

                                if (CGAL::join(polygon_out_list[i], polygon_out_list1[j], polygon_out_list1[j])) //an union was possible
                                {
                                        printf("plg %d was merged to list %d\n",(int)i,(int)j);
                                        was_merged=true;
                                        break;
                                }
                                else
                                {
                                        printf("plg %d cannot be merged with plg list %d\n",(int)i,(int)j);
                                }

                        }

                        if (was_merged==false)
                        {
                                polygon_out_list1.push_back(polygon_out_list[i]);
                                printf("Adding plg %d to list. Now has %d size\n",(int)i, (int)polygon_out_list1.size());
                        }

                }               


                //printf("final list has %d polygons\n", (int)polygon_out_list.size());
                for (size_t i=0; i< polygon_out_list1.size(); i++)
                {
                        //printf("polygon_out_list %d has %d vertices and %d holes\n", (int)i, (int)polygon_out_list[i].outer_boundary().size(), (int)polygon_out_list[i].number_of_holes());

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

                        CGALPolygon_2::Vertex_const_iterator vit;

                        for (vit = polygon_out_list1[i].outer_boundary().vertices_begin(); vit != polygon_out_list1[i].outer_boundary().vertices_end(); ++vit)
                        {
                                pcl::PointXYZ pt;
                                pt.x = (*vit).x();
                                pt.y = (*vit).y();
                                pt.z = 0;
                                pc_out_local.push_back(pt);
                        }

                        transform_local_to_global(&pc_out_local, &pc_out);
                        pc_list->push_back(pc_out);
                }

        }
        else if (polygons.size()==0)
        {
                ROS_ERROR("No polygons given. No union can be performed");

        }


        return 1;
}

#endif