projection_mesh.h

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#ifndef _projection_mesh_H_
#define _projection_mesh_H_

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

//System Includes
#include <CGAL/Exact_predicates_inexact_constructions_kernel.h>
#include <CGAL/IO/Color.h>
#include <CGAL/Triangulation_2.h>
#include <CGAL/Triangulation_vertex_base_with_info_2.h>

#include <CGAL/Polygon_2_algorithms.h>
#include <CGAL/Delaunay_triangulation_2.h>

#include <CGAL/basic.h>
#include <CGAL/Exact_predicates_inexact_constructions_kernel.h>
#include <CGAL/Exact_predicates_exact_constructions_kernel.h>
#include <CGAL/Partition_traits_2.h>
#include <CGAL/Partition_is_valid_traits_2.h>
#include <CGAL/polygon_function_objects.h>
#include <CGAL/partition_2.h>
#include <CGAL/point_generators_2.h>
#include <CGAL/Polygon_set_2.h>
#include <CGAL/Cartesian.h>
#include <CGAL/polygon_function_objects.h>
#include <CGAL/random_polygon_2.h>

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

#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 <CGAL/Constrained_Delaunay_triangulation_2.h>
#include <CGAL/Constrained_triangulation_plus_2.h>

#include <opencv2/imgproc/imgproc.hpp> 
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/core/core.hpp>

//define the kernel
//typedef CGAL::Exact_predicates_exact_constructions_kernel K; 
typedef CGAL::Exact_predicates_inexact_constructions_kernel K; 

//Define an extension to the vertex
typedef struct {double z;float rgb;float weight;} t_vertex_extension;

//define the face from the class Enriched_face_base_2
template <class Gt, class Fb >
class face_extension : public Fb 
{
        public:
                typedef Gt Geom_traits;
                typedef typename Fb::Vertex_handle Vertex_handle;
                typedef typename Fb::Face_handle Face_handle;

                template < typename TDS2 >
                        struct Rebind_TDS 
                        {
                                typedef typename Fb::template Rebind_TDS<TDS2>::Other Fb2;
                                typedef face_extension<Gt,Fb2> Other; 
                        };

                int status;
                int counter;
                bool visited;

                float weight;
  inline bool is_in_domain() const { return (status%2 == 1); };

  inline void set_in_domain(const bool b) { status = (b ? 1 : 0); };


                face_extension(): Fb(), status(-1) {};

                face_extension(Vertex_handle v0, 
                                Vertex_handle v1, 
                                Vertex_handle v2): Fb(v0,v1,v2), status(-1) {};

                face_extension(Vertex_handle v0, 
                                Vertex_handle v1, 
                                Vertex_handle v2,
                                Face_handle n0, 
                                Face_handle n1, 
                                Face_handle n2): Fb(v0,v1,v2,n0,n1,n2), status(-1) {};

}; // end class Enriched_face_base_2


//Define the face as the extension class
//typedef face_extension<K, CGAL::Constrained_triangulation_face_base_2<K> > Fb; 
//typedef CGAL::Triangulation_vertex_base_with_info_2<t_vertex_extension, K> Vb;


//Define the triangulation data_structure
typedef CGAL::Triangulation_data_structure_2<CGAL::Triangulation_vertex_base_with_info_2<t_vertex_extension, K>, 
                face_extension<K, CGAL::Constrained_triangulation_face_base_2<K> > > TDS_projection_mesh;

//Define the Constrained Delaunay Triangulation plus we are using as projection triangulation PT
typedef CGAL::Constrained_triangulation_plus_2<CGAL::Constrained_Delaunay_triangulation_2<K, TDS_projection_mesh, CGAL::No_intersection_tag> > PT;
//typedef CGAL::Constrained_triangulation_plus_2<CGAL::Constrained_Delaunay_triangulation_2<K, TDS_projection_mesh, CGAL::Exact_intersections_tag> > PT;


//Now the actual class
class class_projection_mesh
{
        public:
                class_projection_mesh(void)
                {
                };
                ~class_projection_mesh(void){};

                int draw_mesh_triangles(cv::Mat* image, cv::Scalar color, int thickness);
                int print_all_vertices(void);
                int clear_constraints(void);
                int clear_vertices(void);
                int add_vertex_to_mesh(double x, double y, double z, float rgb, float weight);
                int set_constraint_polygon(std::vector<pcl::PointXY>* p);
                int export_triangles(pcl::PointCloud<pcl::PointXYZRGB>* vertex_list, std::vector<float>* face_weights);
                int export_triangles_in_order(pcl::PointCloud<pcl::PointXYZRGB>* vertex_list, std::vector<float>* face_weights);
                int compute_face_weights(void);
                int initialize_visited(void)
                {
                        for(PT::All_faces_iterator it = mesh.all_faces_begin(); it != mesh.all_faces_end(); ++it)
                        {  
                                it->visited=false;
                        }
                        return 1;
                }

                //Variables
                PT mesh;

                void discoverComponents(const PT& ct);
                void discoverComponent(const PT& ct, PT::Face_handle start, int index, std::list<PT::Edge>& border );
                int initialize_all_faces_status(void);
};



#endif