clipping.h

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#ifndef COB_3D_CLIPPING_H
#define COB_3D_CLIPPING_H

namespace cob_3d_mapping
{
  class CohenSutherlandClipping
  {
  public:
    CohenSutherlandClipping()
      : xmin(-1.0f)
      , xmax( 1.0f)
      , ymin(-1.0f)
      , ymax( 1.0f)
      , zmin(-1.0f)
      , zmax( 1.0f)
    { }

    void setBorders(float x_min, float x_max,
                    float y_min, float y_max,
                    float z_min, float z_max)
    {
      xmin = x_min; xmax = x_max;
      ymin = y_min; ymax = y_max;
      zmin = z_min; zmax = z_max;
    }

    int computeCode(float x, float y, float z=0.0f)
    {
      int code = 0;
      if( x < xmin )     code |= LEFT;
      else if( x > xmax) code |= RIGHT;
      if( y < ymin )     code |= TOP;
      else if( y > ymax) code |= BOTTOM;
      if( z < zmin )     code |= NEAR;
      else if( z > zmax) code |= FAR;

      return code;
    }

    bool clip(const Eigen::Vector3f& p0,
              const Eigen::Vector3f& p1,
              Eigen::Vector3f& q0,
              Eigen::Vector3f& q1);


  private:
    float xmin;
    float xmax;
    float ymin;
    float ymax;
    float zmin;
    float zmax;

    static const int FAR;    // 10 00 00
    static const int NEAR;   // 01 00 00
    static const int TOP;    // 00 10 00
    static const int BOTTOM; // 00 01 00
    static const int RIGHT;  // 00 00 10
    static const int LEFT;   // 00 00 01
  };

  const int CohenSutherlandClipping::FAR    = 32;
  const int CohenSutherlandClipping::NEAR   = 16;
  const int CohenSutherlandClipping::TOP    =  8;
  const int CohenSutherlandClipping::BOTTOM =  4;
  const int CohenSutherlandClipping::RIGHT  =  2;
  const int CohenSutherlandClipping::LEFT   =  1;
}

#include "cob_3d_fov_segmentation/impl/clipping.hpp"

#endif