00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Point Cloud Library (PCL) - www.pointclouds.org 00005 * Copyright (c) 2010-2011, Willow Garage, Inc. 00006 * 00007 * All rights reserved. 00008 * 00009 * Redistribution and use in source and binary forms, with or without 00010 * modification, are permitted provided that the following conditions 00011 * are met: 00012 * 00013 * * Redistributions of source code must retain the above copyright 00014 * notice, this list of conditions and the following disclaimer. 00015 * * Redistributions in binary form must reproduce the above 00016 * copyright notice, this list of conditions and the following 00017 * disclaimer in the documentation and/or other materials provided 00018 * with the distribution. 00019 * * Neither the name of Willow Garage, Inc. nor the names of its 00020 * contributors may be used to endorse or promote products derived 00021 * from this software without specific prior written permission. 00022 * 00023 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00024 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00025 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00026 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00027 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00028 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00029 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00030 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00031 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00032 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00033 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00034 * POSSIBILITY OF SUCH DAMAGE. 00035 * 00036 */ 00037 00038 #ifndef PCL_CLIPPER3D_H_ 00039 #define PCL_CLIPPER3D_H_ 00040 #include <pcl/point_cloud.h> 00041 #include <vector> 00042 00043 namespace pcl 00044 { 00049 template<typename PointT> 00050 class Clipper3D 00051 { 00052 public: 00056 virtual ~Clipper3D () throw () {} 00057 00063 virtual bool 00064 clipPoint3D (const PointT& point) const = 0; 00065 00073 virtual bool 00074 clipLineSegment3D (PointT& pt1, PointT& pt2) const = 0; 00075 00080 virtual void 00081 clipPlanarPolygon3D (std::vector<PointT>& polygon) const = 0; 00082 00088 virtual void 00089 clipPlanarPolygon3D (const std::vector<PointT>& polygon, std::vector<PointT>& clipped_polygon) const = 0; 00090 00098 virtual void 00099 clipPointCloud3D (const pcl::PointCloud<PointT> &cloud_in, std::vector<int>& clipped, const std::vector<int>& indices = std::vector<int> ()) const = 0; 00100 00105 virtual Clipper3D<PointT>* 00106 clone () const = 0; 00107 }; 00108 } 00109 00110 00111 #endif // PCL_CLIPPER3D_H_