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 the copyright holder(s) 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_PLANE_CLIPPER3D_H_ 00039 #define PCL_PLANE_CLIPPER3D_H_ 00040 #include "clipper3D.h" 00041 00042 namespace pcl 00043 { 00049 template<typename PointT> 00050 class PlaneClipper3D : public Clipper3D<PointT> 00051 { 00052 public: 00053 00054 typedef boost::shared_ptr< PlaneClipper3D<PointT> > Ptr; 00055 typedef boost::shared_ptr< const PlaneClipper3D<PointT> > ConstPtr; 00056 00062 PlaneClipper3D (const Eigen::Vector4f& plane_params); 00063 00064 virtual ~PlaneClipper3D () throw (); 00065 00070 void setPlaneParameters (const Eigen::Vector4f& plane_params); 00071 00076 const Eigen::Vector4f& getPlaneParameters () const; 00077 00078 virtual bool 00079 clipPoint3D (const PointT& point) const; 00080 00081 virtual bool 00082 clipLineSegment3D (PointT& from, PointT& to) const; 00083 00084 virtual void 00085 clipPlanarPolygon3D (std::vector<PointT>& polygon) const; 00086 00087 virtual void 00088 clipPlanarPolygon3D (const std::vector<PointT>& polygon, std::vector<PointT>& clipped_polygon) const; 00089 00090 virtual void 00091 clipPointCloud3D (const pcl::PointCloud<PointT> &cloud_in, std::vector<int>& clipped, const std::vector<int>& indices = std::vector<int> ()) const; 00092 00093 virtual Clipper3D<PointT>* 00094 clone () const; 00095 00096 protected: 00097 float 00098 getDistance (const PointT& point) const; 00099 00100 private: 00101 Eigen::Vector4f plane_params_; 00102 }; 00103 } 00104 00105 #ifdef PCL_NO_PRECOMPILE 00106 #include <pcl/filters/impl/plane_clipper3D.hpp> 00107 #endif 00108 00109 #endif // PCL_PLANE_CLIPPER3D_H_