box_clipper3D.h

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#ifndef PCL_BOX_CLIPPER3D_H_
#define PCL_BOX_CLIPPER3D_H_
#include "clipper3D.h"

namespace pcl
{
  template<typename PointT>
  class BoxClipper3D : public Clipper3D<PointT>
  {
    public:

      typedef boost::shared_ptr< BoxClipper3D<PointT> > Ptr;
      typedef boost::shared_ptr< const BoxClipper3D<PointT> > ConstPtr;


      BoxClipper3D (const Eigen::Affine3f& transformation);

      BoxClipper3D (const Eigen::Vector3f& rodrigues, const Eigen::Vector3f& translation, const Eigen::Vector3f& box_size);

      void setTransformation (const Eigen::Affine3f& transformation);

      void setTransformation (const Eigen::Vector3f& rodrigues, const Eigen::Vector3f& translation, const Eigen::Vector3f& box_size);

      virtual ~BoxClipper3D () throw ();

      virtual bool
      clipPoint3D (const PointT& point) const;

      virtual bool
      clipLineSegment3D (PointT& from, PointT& to) const;

      virtual void
      clipPlanarPolygon3D (std::vector<PointT>& polygon) const;

      virtual void
      clipPlanarPolygon3D (const std::vector<PointT>& polygon, std::vector<PointT>& clipped_polygon) const;

      virtual void
      clipPointCloud3D (const pcl::PointCloud<PointT> &cloud_in, std::vector<int>& clipped, const std::vector<int>& indices = std::vector<int> ()) const;

      virtual Clipper3D<PointT>*
      clone () const;

    protected:
      float getDistance (const PointT& point) const;
      void transformPoint (const PointT& pointIn, PointT& pointOut) const;
    private:
      Eigen::Affine3f transformation_;

    public:
      EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  };
}

#ifdef PCL_NO_PRECOMPILE
#include <pcl/filters/impl/box_clipper3D.hpp>
#endif

#endif // PCL_BOX_CLIPPER3D_H_