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Refactor ear clipping algorithm to improve concave and flat triangle detection #2841

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Refactor ear clipping algorithm to improve concave and flat triangle detection #2841

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Refactor ear clipping algorithm to improve concave and flat triangle …
iory May 30, 2024
f89e754
Merge branch 'master' into polygon
iory May 30, 2024
727b6c1
Merge branch 'master' into polygon
mqcmd196 Oct 22, 2024
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13 changes: 11 additions & 2 deletions jsk_recognition_utils/src/pcl/ear_clipping_patched.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -141,8 +141,17 @@ pcl::EarClippingPatched::isEar (int u, int v, int w, const Vertices& vertices)

// 1: Avoid flat triangles and concave vertex
Eigen::Vector3f cross = p_vu.cross(p_vw);
if ((cross[2] > 0) || (cross.norm() < eps))
return (false);

// Concave vertex condition:
// If the z component of the cross product is less than or equal to zero,
// the triangle is concave, meaning the angle between the vectors is greater than 180 degrees.
if (cross[2] <= 0) {
// Not an ear: concave vertex
return false;
} else if (cross.norm() < eps) {
// Not an ear: flat triangle
return false;
}

Eigen::Vector3f p;
// 2: Check if any other vertex is inside the triangle.
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