polygon_intersection.h

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#ifndef _POLYGON_INTERSECTION_H_
#define _POLYGON_INTERSECTION_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 <cassert>
//#include <list>

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

#include <bo_polygon2d/polygon_simplification.h>
#include <bo_polygon2d/transform_wrapper.h>

typedef CGAL::Exact_predicates_inexact_constructions_kernel CGALKernel;
typedef CGALKernel::Point_2                                   CGALPoint_2;
typedef CGAL::Polygon_2<CGALKernel>                           CGALPolygon_2;
typedef CGAL::Polygon_with_holes_2<CGALKernel>                CGALPolygon_with_holes_2;
typedef std::list<CGALPolygon_with_holes_2>                   CGALPwh_list_2;


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

                int clear_all_polygons(void);
                int add_polygon_to_list(pcl::PointCloud<pcl::PointXYZ>::Ptr p_pc);
                int add_polygon_to_list(pcl::PointCloud<pcl::PointXYZ>* pc);
                int compute_polygon_intersection(pcl::PointCloud<pcl::PointXYZ>* pc_out);
                int compute_polygon_union(std::vector<pcl::PointCloud<pcl::PointXYZ> > *pc_list);

        protected:
                std::vector<CGALPolygon_2> polygons;


};


#endif