plane_clipper3D.h

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#ifndef PCL_PLANE_CLIPPER3D_H_
#define PCL_PLANE_CLIPPER3D_H_
#include "clipper3D.h"

namespace pcl
{
  template<typename PointT>
  class PlaneClipper3D : public Clipper3D<PointT>
  {
    public:
      PlaneClipper3D (const Eigen::Vector4f& plane_params);

      virtual ~PlaneClipper3D () throw ();

      void setPlaneParameters (const Eigen::Vector4f& plane_params);

      const Eigen::Vector4f& getPlaneParameters () const;

      virtual bool
      clipPoint3D (const PointT& point) const;

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

    private:
      Eigen::Vector4f plane_params_;
  };
}

#endif // PCL_PLANE_CLIPPER3D_H_