TriangleMesh.h

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#pragma once

#include <Eigen/Core>
#include <memory>
#include <unordered_map>
#include <unordered_set>
#include <vector>

#include "Open3D/Geometry/Geometry3D.h"
#include "Open3D/Utility/Helper.h"

namespace open3d {
namespace geometry {

class PointCloud;

class TriangleMesh : public Geometry3D {
public:
    enum class SimplificationContraction { Average, Quadric };

    enum class FilterScope { All, Color, Normal, Vertex };

    TriangleMesh() : Geometry3D(Geometry::GeometryType::TriangleMesh) {}
    ~TriangleMesh() override {}

public:
    TriangleMesh &Clear() override;
    bool IsEmpty() const override;
    Eigen::Vector3d GetMinBound() const override;
    Eigen::Vector3d GetMaxBound() const override;
    Eigen::Vector3d GetCenter() const override;
    AxisAlignedBoundingBox GetAxisAlignedBoundingBox() const override;
    OrientedBoundingBox GetOrientedBoundingBox() const override;
    TriangleMesh &Transform(const Eigen::Matrix4d &transformation) override;
    TriangleMesh &Translate(const Eigen::Vector3d &translation,
                            bool relative = true) override;
    TriangleMesh &Scale(const double scale, bool center = true) override;
    TriangleMesh &Rotate(const Eigen::Vector3d &rotation,
                         bool center = true,
                         RotationType type = RotationType::XYZ) override;

public:
    TriangleMesh &operator+=(const TriangleMesh &mesh);
    TriangleMesh operator+(const TriangleMesh &mesh) const;

    TriangleMesh &ComputeTriangleNormals(bool normalized = true);

    TriangleMesh &ComputeVertexNormals(bool normalized = true);

    TriangleMesh &ComputeAdjacencyList();

    TriangleMesh &RemoveDuplicatedVertices();

    TriangleMesh &RemoveDuplicatedTriangles();

    TriangleMesh &RemoveUnreferencedVertices();

    TriangleMesh &RemoveDegenerateTriangles();

    TriangleMesh &RemoveNonManifoldEdges();

    std::shared_ptr<TriangleMesh> FilterSharpen(
            int number_of_iterations,
            double strength,
            FilterScope scope = FilterScope::All) const;

    std::shared_ptr<TriangleMesh> FilterSmoothSimple(
            int number_of_iterations,
            FilterScope scope = FilterScope::All) const;

    std::shared_ptr<TriangleMesh> FilterSmoothLaplacian(
            int number_of_iterations,
            double lambda,
            FilterScope scope = FilterScope::All) const;

    std::shared_ptr<TriangleMesh> FilterSmoothTaubin(
            int number_of_iterations,
            double lambda = 0.5,
            double mu = -0.53,
            FilterScope scope = FilterScope::All) const;

    bool HasVertices() const { return vertices_.size() > 0; }

    bool HasTriangles() const {
        return vertices_.size() > 0 && triangles_.size() > 0;
    }

    bool HasVertexNormals() const {
        return vertices_.size() > 0 &&
               vertex_normals_.size() == vertices_.size();
    }

    bool HasVertexColors() const {
        return vertices_.size() > 0 &&
               vertex_colors_.size() == vertices_.size();
    }

    bool HasTriangleNormals() const {
        return HasTriangles() && triangles_.size() == triangle_normals_.size();
    }

    bool HasAdjacencyList() const {
        return vertices_.size() > 0 &&
               adjacency_list_.size() == vertices_.size();
    }

    TriangleMesh &NormalizeNormals() {
        for (size_t i = 0; i < vertex_normals_.size(); i++) {
            vertex_normals_[i].normalize();
            if (std::isnan(vertex_normals_[i](0))) {
                vertex_normals_[i] = Eigen::Vector3d(0.0, 0.0, 1.0);
            }
        }
        for (size_t i = 0; i < triangle_normals_.size(); i++) {
            triangle_normals_[i].normalize();
            if (std::isnan(triangle_normals_[i](0))) {
                triangle_normals_[i] = Eigen::Vector3d(0.0, 0.0, 1.0);
            }
        }
        return *this;
    }

    TriangleMesh &PaintUniformColor(const Eigen::Vector3d &color) {
        ResizeAndPaintUniformColor(vertex_colors_, vertices_.size(), color);
        return *this;
    }

    int EulerPoincareCharacteristic() const;

    std::vector<Eigen::Vector2i> GetNonManifoldEdges(
            bool allow_boundary_edges = true) const;

    bool IsEdgeManifold(bool allow_boundary_edges = true) const;

    std::vector<int> GetNonManifoldVertices() const;

    bool IsVertexManifold() const;

    std::vector<Eigen::Vector2i> GetSelfIntersectingTriangles() const;

    bool IsSelfIntersecting() const;

    bool IsBoundingBoxIntersecting(const TriangleMesh &other) const;

    bool IsIntersecting(const TriangleMesh &other) const;

    bool IsOrientable() const;

    bool IsWatertight() const;

    bool OrientTriangles();

    std::unordered_map<Eigen::Vector2i,
                       std::vector<int>,
                       utility::hash_eigen::hash<Eigen::Vector2i>>
    GetEdgeToTrianglesMap() const;

    static double ComputeTriangleArea(const Eigen::Vector3d &p0,
                                      const Eigen::Vector3d &p1,
                                      const Eigen::Vector3d &p2);

    double GetTriangleArea(size_t triangle_idx) const;

    double GetSurfaceArea() const;

    double GetSurfaceArea(std::vector<double> &triangle_areas) const;

    static Eigen::Vector4d ComputeTrianglePlane(const Eigen::Vector3d &p0,
                                                const Eigen::Vector3d &p1,
                                                const Eigen::Vector3d &p2);

    Eigen::Vector4d GetTrianglePlane(size_t triangle_idx) const;

    std::shared_ptr<TriangleMesh> ComputeConvexHull() const;

    std::shared_ptr<PointCloud> SamplePointsUniformlyImpl(
            size_t number_of_points,
            std::vector<double> &triangle_areas,
            double surface_area) const;

    std::shared_ptr<PointCloud> SamplePointsUniformly(
            size_t number_of_points) const;

    std::shared_ptr<PointCloud> SamplePointsPoissonDisk(
            size_t number_of_points,
            double init_factor = 5,
            const std::shared_ptr<PointCloud> pcl_init = nullptr) const;

    std::shared_ptr<TriangleMesh> SubdivideMidpoint(
            int number_of_iterations) const;

    std::shared_ptr<TriangleMesh> SubdivideLoop(int number_of_iterations) const;

    std::shared_ptr<TriangleMesh> SimplifyVertexClustering(
            double voxel_size,
            TriangleMesh::SimplificationContraction contraction =
                    TriangleMesh::SimplificationContraction::Average) const;

    std::shared_ptr<TriangleMesh> SimplifyQuadricDecimation(
            int target_number_of_triangles) const;

    std::shared_ptr<TriangleMesh> SelectDownSample(
            const std::vector<size_t> &indices) const;

    std::shared_ptr<TriangleMesh> Crop(const Eigen::Vector3d &min_bound,
                                       const Eigen::Vector3d &max_bound) const;

    static std::shared_ptr<TriangleMesh> CreateFromPointCloudBallPivoting(
            const PointCloud &pcd, const std::vector<double> &radii);

    static std::shared_ptr<TriangleMesh> CreateTetrahedron(double radius = 1.0);

    static std::shared_ptr<TriangleMesh> CreateOctahedron(double radius = 1.0);

    static std::shared_ptr<TriangleMesh> CreateIcosahedron(double radius = 1.0);

    static std::shared_ptr<TriangleMesh> CreateBox(double width = 1.0,
                                                   double height = 1.0,
                                                   double depth = 1.0);

    static std::shared_ptr<TriangleMesh> CreateSphere(double radius = 1.0,
                                                      int resolution = 20);

    static std::shared_ptr<TriangleMesh> CreateCylinder(double radius = 1.0,
                                                        double height = 2.0,
                                                        int resolution = 20,
                                                        int split = 4);

    static std::shared_ptr<TriangleMesh> CreateCone(double radius = 1.0,
                                                    double height = 2.0,
                                                    int resolution = 20,
                                                    int split = 1);

    static std::shared_ptr<TriangleMesh> CreateTorus(
            double torus_radius = 1.0,
            double tube_radius = 0.5,
            int radial_resolution = 30,
            int tubular_resolution = 20);

    static std::shared_ptr<TriangleMesh> CreateArrow(
            double cylinder_radius = 1.0,
            double cone_radius = 1.5,
            double cylinder_height = 5.0,
            double cone_height = 4.0,
            int resolution = 20,
            int cylinder_split = 4,
            int cone_split = 1);

    static std::shared_ptr<TriangleMesh> CreateCoordinateFrame(
            double size = 1.0,
            const Eigen::Vector3d &origin = Eigen::Vector3d(0.0, 0.0, 0.0));

    static std::shared_ptr<TriangleMesh> CreateMoebius(int length_split = 70,
                                                       int width_split = 15,
                                                       int twists = 1,
                                                       double radius = 1,
                                                       double flatness = 1,
                                                       double width = 1,
                                                       double scale = 1);

protected:
    // Forward child class type to avoid indirect nonvirtual base
    TriangleMesh(Geometry::GeometryType type) : Geometry3D(type) {}

    void FilterSmoothLaplacianHelper(
            std::shared_ptr<TriangleMesh> &mesh,
            const std::vector<Eigen::Vector3d> &prev_vertices,
            const std::vector<Eigen::Vector3d> &prev_vertex_normals,
            const std::vector<Eigen::Vector3d> &prev_vertex_colors,
            const std::vector<std::unordered_set<int>> &adjacency_list,
            double lambda,
            bool filter_vertex,
            bool filter_normal,
            bool filter_color) const;

public:
    std::vector<Eigen::Vector3d> vertices_;
    std::vector<Eigen::Vector3d> vertex_normals_;
    std::vector<Eigen::Vector3d> vertex_colors_;
    std::vector<Eigen::Vector3i> triangles_;
    std::vector<Eigen::Vector3d> triangle_normals_;
    std::vector<std::unordered_set<int>> adjacency_list_;
};

}  // namespace geometry
}  // namespace open3d