File CentroidSampler.cpp

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#include "mesh_to_pointcloud/CentroidSampler.h"

namespace Argos {

    PointCloud CentroidSampler::sample(const Mesh& mesh)
    {
        PointCloud cloud;

        const auto& faces = mesh.getFaces();
        const auto& vertices = mesh.getVertices();

        for (const Face& face : faces)
        {
            const auto& indices = face.getIndices();

            if (indices.size() < 3)
                continue;

            // Triangulation fan
            for (std::size_t i = 1; i < indices.size() - 1; ++i)
            {
                const auto& A = vertices[indices[0]];
                const auto& B = vertices[indices[i]];
                const auto& C = vertices[indices[i + 1]];

                auto P = (A + B + C) / 3.0; // point centroid

                cloud.addPoint(P);
            }
        }

        return cloud;
    }

}