Point Cloud Library (PCL)  1.7.0
/tmp/buildd/pcl-1.7-1.7.0/filters/include/pcl/filters/clipper3D.h
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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 {
00045   /**
00046     * \brief Base class for 3D clipper objects
00047     * \author Suat Gedikli <gedikli@willowgarage.com>
00048     * \ingroup filters
00049     */
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  
00057       /**
00058         * \brief virtual destructor. Never throws an exception.
00059         */
00060       virtual ~Clipper3D () throw () {}
00061 
00062       /**
00063         * \brief interface to clip a single point
00064         * \param[in] point the point to check against
00065         * \return true, it point still exists, false if its clipped
00066         */
00067       virtual bool
00068       clipPoint3D (const PointT& point) const = 0;
00069 
00070       /**
00071         * \brief interface to clip a line segment given by two end points. The order of the end points is unimportant and will sty the same after clipping.
00072         * This means basically, that the direction of the line will not flip after clipping.
00073         * \param[in,out] pt1 start point of the line
00074         * \param[in,out] pt2 end point of the line
00075         * \return true if the clipped line is not empty, thus the parameters are still valid, false if line completely outside clipping space
00076         */
00077       virtual bool
00078       clipLineSegment3D (PointT& pt1, PointT& pt2) const = 0;
00079 
00080       /**
00081         * \brief interface to clip a planar polygon given by an ordered list of points
00082         * \param[in,out] polygon the polygon in any direction (ccw or cw) but ordered, thus two neighboring points define an edge of the polygon
00083         */
00084       virtual void
00085       clipPlanarPolygon3D (std::vector<PointT>& polygon) const = 0;
00086 
00087       /**
00088         * \brief interface to clip a planar polygon given by an ordered list of points
00089         * \param[in] polygon the polygon in any direction (ccw or cw) but ordered, thus two neighboring points define an edge of the polygon
00090         * \param[out] clipped_polygon the clipped polygon
00091         */
00092       virtual void
00093       clipPlanarPolygon3D (const std::vector<PointT>& polygon, std::vector<PointT>& clipped_polygon) const = 0;
00094 
00095       /**
00096         * \brief interface to clip a point cloud
00097         * \param[in] cloud_in input point cloud
00098         * \param[out] clipped indices of points that remain after clipping the input cloud
00099         * \param[in] indices the indices of points in the point cloud to be clipped.
00100         * \return list of indices of remaining points after clipping.
00101         */
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 
00105       /**
00106         * \brief polymorphic method to clone the underlying clipper with its parameters.
00107         * \return the new clipper object from the specific subclass with all its parameters.
00108         */
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_