154 lines
7.5 KiB
C
154 lines
7.5 KiB
C
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// ----------------------------------------------------------------------------
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// - Open3D: www.open3d.org -
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// ----------------------------------------------------------------------------
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// Copyright (c) 2018-2023 www.open3d.org
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// SPDX-License-Identifier: MIT
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// ----------------------------------------------------------------------------
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#include <vtkPolyData.h>
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#include <vtkSmartPointer.h>
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#include "open3d/t/geometry/Geometry.h"
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#include "open3d/t/geometry/LineSet.h"
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#include "open3d/t/geometry/PointCloud.h"
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#include "open3d/t/geometry/TriangleMesh.h"
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namespace open3d {
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namespace t {
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namespace geometry {
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namespace vtkutils {
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/// Returns the corresponding vtk data type for core::Dtype
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/// Logs an error if no conversion exists.
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int DtypeToVtkType(const core::Dtype& dtype);
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/// Creates a vtkPolyData object from a point cloud or triangle mesh.
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/// The returned vtkPolyData object may directly use the memory of the tensors
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/// stored inside the Geometry object. Therefore, the Geometry object must be
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/// kept alive until the returned vtkPolyData object is deleted.
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/// \param geometry Open3D geometry object, e.g., a TriangleMesh.
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/// \param copy If true always create a copy of the data.
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/// \param point_attr_include A set of keys to select which point/vertex
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/// attributes should be added. Note that the primary key may be included and
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/// will silently be ignored.
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/// \param face_attr_include A set of keys to select
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/// which face attributes should be added. Note that the primary key may be
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/// included and will silently be ignored.
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/// \param point_attr_exclude A set of keys for which point/vertex attributes
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/// will not be added to the vtkPolyData. The exclusion set has precedence over
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/// the included keys.
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/// \param face_attr_exclude A set of keys for which face attributes will not be
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/// added to the vtkPolyData. The exclusion set has precedence over the included
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/// keys.
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vtkSmartPointer<vtkPolyData> CreateVtkPolyDataFromGeometry(
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const Geometry& geometry,
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const std::unordered_set<std::string>& point_attr_include,
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const std::unordered_set<std::string>& face_attr_include,
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const std::unordered_set<std::string>& point_attr_exclude = {},
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const std::unordered_set<std::string>& face_attr_exclude = {},
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bool copy = false);
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/// Creates a triangle mesh from a vtkPolyData object.
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/// The returned TriangleMesh may directly use the memory of the data arrays in
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/// the vtkPolyData object.
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/// The returned TriangleMesh will hold references to the arrays and it is not
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/// necessary to keep other references to the vtkPolyData object or its arrays
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/// alive.
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/// \param polydata Input polyData object.
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/// \param copy If true always create a copy of the data.
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TriangleMesh CreateTriangleMeshFromVtkPolyData(vtkPolyData* polydata,
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bool copy = false);
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/// Creates a LineSet a vtkPolyData object.
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/// The returned LineSet may directly use the memory of the data arrays in
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/// the vtkPolyData object.
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/// The returned LineSet will hold references to the arrays and it is not
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/// necessary to keep other references to the vtkPolyData object or its arrays
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/// alive.
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/// \param polydata Input polyData object.
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/// \param copy If true always create a copy of the data.
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LineSet CreateLineSetFromVtkPolyData(vtkPolyData* polydata, bool copy = false);
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/// Sweeps the geometry rotationally about an axis.
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/// \param geometry Open3D geometry object, e.g., a TriangleMesh.
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/// \param angle The rotation angle in degree.
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/// \param axis The rotation axis.
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/// \param resolution The resolution defines the number of intermediate
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/// sweeps about the rotation axis.
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/// \param translation The translation along the rotation axis.
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/// \param capping If true adds caps to the mesh.
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/// \return A triangle mesh with the result of the sweep operation.
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TriangleMesh ExtrudeRotationTriangleMesh(const Geometry& geometry,
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double angle,
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const core::Tensor& axis,
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int resolution = 16,
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double translation = 0.0,
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bool capping = true);
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/// Sweeps the geometry rotationally about an axis.
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/// \param pointcloud A point cloud.
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/// \param angle The rotation angle in degree.
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/// \param axis The rotation axis.
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/// \param resolution The resolution defines the number of intermediate
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/// sweeps about the rotation axis.
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/// \param translation The translation along the rotation axis.
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/// \param capping If true adds caps to the mesh.
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/// \return A line set with the result of the sweep operation.
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LineSet ExtrudeRotationLineSet(const PointCloud& pointcloud,
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double angle,
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const core::Tensor& axis,
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int resolution = 16,
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double translation = 0.0,
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bool capping = true);
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/// Sweeps the geometry along a direction vector.
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/// \param geometry Open3D geometry object, e.g., a TriangleMesh.
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/// \param vector The direction vector.
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/// \param scale Scalar factor which essentially scales the direction vector.
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/// \param capping If true adds caps to the mesh.
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/// \return A triangle mesh with the result of the sweep operation.
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TriangleMesh ExtrudeLinearTriangleMesh(const Geometry& geometry,
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const core::Tensor& vector,
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double scale,
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bool capping);
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/// Sweeps the geometry along a direction vector.
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/// \param pointcloud A point cloud.
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/// \param vector The direction vector.
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/// \param scale Scalar factor which essentially scales the direction vector.
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/// \param capping If true adds caps to the mesh.
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/// \return A triangle mesh with the result of the sweep operation.
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LineSet ExtrudeLinearLineSet(const PointCloud& pointcloud,
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const core::Tensor& vector,
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double scale,
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bool capping);
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/// Computes the normals for a mesh.
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/// In addition to computing the normals this function can fix the face vertex
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/// order and orient the normals to point outwards.
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/// This function can be applied to non-manifold or non-closed meshes but
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/// without any guarantees to correctness or quality for the result.
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/// \param mesh A point cloud.
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/// \param vertex_normals If true compute the vertex normals.
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/// \param face_normals If true compute the face normals.
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/// \param consistency If true the algorithm fixes the vertex order of faces.
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/// \param auto_orient_normals If true normals will be flipped to point
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/// outwards
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/// \param splitting If true allows splitting of edges to account for
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/// sharp edges. Splitting an edge will create new vertices.
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/// \param feature_angle_deg The angle in degrees that defines sharp edges for
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/// splitting.
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/// \return A new mesh with the computed normals.
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TriangleMesh ComputeNormals(const TriangleMesh& mesh,
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bool vertex_normals,
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bool face_normals,
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bool consistency,
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bool auto_orient_normals,
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bool splitting,
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double feature_angle_deg = 30);
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} // namespace vtkutils
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} // namespace geometry
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} // namespace t
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} // namespace open3d
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