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_CLIPPER3D_H_ 00039 #define PCL_CLIPPER3D_H_ 00040 #include <pcl/point_cloud.h> 00041 #include <vector> 00042 00043 namespace pcl 00044 { 00050 template<typename PointT> 00051 class Clipper3D 00052 { 00053 public: 00054 typedef boost::shared_ptr< Clipper3D<PointT> > Ptr; 00055 typedef boost::shared_ptr< const Clipper3D<PointT> > ConstPtr; 00056 00060 virtual ~Clipper3D () throw () {} 00061 00067 virtual bool 00068 clipPoint3D (const PointT& point) const = 0; 00069 00077 virtual bool 00078 clipLineSegment3D (PointT& pt1, PointT& pt2) const = 0; 00079 00084 virtual void 00085 clipPlanarPolygon3D (std::vector<PointT>& polygon) const = 0; 00086 00092 virtual void 00093 clipPlanarPolygon3D (const std::vector<PointT>& polygon, std::vector<PointT>& clipped_polygon) const = 0; 00094 00102 virtual void 00103 clipPointCloud3D (const pcl::PointCloud<PointT> &cloud_in, std::vector<int>& clipped, const std::vector<int>& indices = std::vector<int> ()) const = 0; 00104 00109 virtual Clipper3D<PointT>* 00110 clone () const = 0; 00111 }; 00112 } 00113 00114 #ifdef PCL_NO_PRECOMPILE 00115 #include <pcl/filters/impl/clipper3D.hpp> 00116 #endif 00117 00118 #endif // PCL_CLIPPER3D_H_