Implementation of a re-meshing based implicit surface reconstruction

michaelpantic commented 5 years ago

~Needs to wait until https://github.com/ethz-asl/cad-percept/pull/35 is merged.~ Ready to review.

Contains yet another offset surface method.

Short summary of this method:

We ignore the meshing topology of the original mesh, and only use the original mesh to define an (implicit) meshing domain
This implicit meshing domain is evaluated by a function which returns the distance of a point to the offset surface, see https://github.com/ethz-asl/cad-percept/blob/e9864a17f4e2af5dda32b02da90785c1bf7300ed/cpt_collision_manifolds/include/cpt_collision_manifolds/offset_surface/meshdomain_strategy.h#L27
A meshing process is started to create a mesh that encloses this meshing domain. See lines following from here: https://github.com/ethz-asl/cad-percept/blob/e9864a17f4e2af5dda32b02da90785c1bf7300ed/cpt_collision_manifolds/src/offset_surface/meshdomain_strategy.cc#L40
Advantages are: It's quite generic and we have some control over how the resulting mesh is discretized (params in the meshing process). Runtime somewhat independent of original mesh resolution.
Disadvantages are: Really slow. Not feature preserving (e.g. sharp boundaries). Both are because we ignore the original mesh topology.