polygon_boolean_operations.h

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#ifndef _polygon_boolean_operations_H_
#define _polygon_boolean_operations_H_

#define PFLN {printf("DEBUG PRINT FILE %s LINE %d\n",__FILE__,__LINE__);}

//####################################################################
#include <ros/ros.h>

#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl_ros/transforms.h>
#include <tf/tf.h>

//CGAL
#include <CGAL/basic.h>
#include <CGAL/Polygon_2.h>
#include <CGAL/Exact_predicates_inexact_constructions_kernel.h>
#include <CGAL/Partition_traits_2.h>
#include <CGAL/Partition_is_valid_traits_2.h>
#include <CGAL/polygon_function_objects.h>
#include <CGAL/partition_2.h>
#include <CGAL/point_generators_2.h>
#include <CGAL/Polygon_set_2.h>

#include <CGAL/random_polygon_2.h>

#include <CGAL/Cartesian.h>
#include <CGAL/Boolean_set_operations_2.h>

#include "polygon_simplification.h"
#include "transform_wrapper.h"

typedef CGAL::Exact_predicates_exact_constructions_kernel   PBO_Kernel;
typedef PBO_Kernel::Point_2                                   PBO_Point_2;
typedef CGAL::Polygon_2<PBO_Kernel>                           PBO_Polygon_2;
typedef CGAL::Polygon_with_holes_2<PBO_Kernel>                PBO_Polygon_with_holes_2;
typedef std::list<PBO_Polygon_with_holes_2>                   PBO_Pwh_list_2;
typedef CGAL::Polygon_set_2<PBO_Kernel>                           PBO_Polygon_set_2;

class class_polygon_boolean_operations: public class_polygon_simplification, public class_transform_wrapper
{
        public:
                class_polygon_boolean_operations(void);
                ~class_polygon_boolean_operations(void);

                int insert(pcl::PointCloud<pcl::PointXYZ>::Ptr p_pc);
                int insert(pcl::PointCloud<pcl::PointXYZ>* pc);


                int intersection(pcl::PointCloud<pcl::PointXYZ>* pc);
                int join(pcl::PointCloud<pcl::PointXYZ>* pc);
                int complement(void);


                int get_largest_pcl(pcl::PointCloud<pcl::PointXYZ>* pc_out);
                int get_first_pcl(pcl::PointCloud<pcl::PointXYZ>* pc_out);
                int get_all_pcls(std::vector<pcl::PointCloud<pcl::PointXYZ> >* pc_out_vector);

                int print(void);

        protected:
                PBO_Polygon_set_2 S;
                PBO_Polygon_2 from_pcl_to_cgalpolygon(pcl::PointCloud<pcl::PointXYZ>* pc);


                template<class Kernel, class Container>
                        void print_polygon (const CGAL::Polygon_2<Kernel, Container>& P)
                        {
                                typename CGAL::Polygon_2<Kernel, Container>::Vertex_const_iterator  vit;

                                std::cout << "[ " << P.size() << " vertices:" << std::endl;
                                int k=1;
                                for (vit = P.vertices_begin(); vit != P.vertices_end(); ++vit)
                                {
                                        std::cout << "x(" << k << ")=" << (*vit).x() << "; y(" << k << ")=" << (*vit).y()<< "; ";
                                        k++;
                                }
                                std::cout << std::endl;
                        }

                template<class Kernel, class Container>
                        void print_polygon_with_holes(const CGAL::Polygon_with_holes_2<Kernel, Container> & pwh)
                        {
                                if (! pwh.is_unbounded()) {
                                        std::cout << "{ is_simple=" << pwh.outer_boundary().is_simple() << "Outer boundary = "; 
                                        print_polygon (pwh.outer_boundary());
                                }
                                else
                                        std::cout << "{ Unbounded polygon." << std::endl;

                                typename CGAL::Polygon_with_holes_2<Kernel,Container>::Hole_const_iterator hit;
                                unsigned int k = 1;

                                std::cout << "  " << pwh.number_of_holes() << " holes:" << std::endl;
                                for (hit = pwh.holes_begin(); hit != pwh.holes_end(); ++hit, ++k) {
                                        std::cout << "is_simple=" << (*hit).is_simple() <<"    Hole #" << k << " = ";
                                        print_polygon (*hit);
                                }
                                std::cout << " }" << std::endl;
                        }
};


#endif