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 *  Point Cloud Library (PCL) - www.pointclouds.org
 *  Copyright (c) 2010-2011, Willow Garage, Inc.
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 * $Id: point_operators.h 4389 2012-02-10 10:10:26Z nizar $
 *
 */

#ifndef PCL_GEOMETRY_POLYGON_OPERATORS_H
#define PCL_GEOMETRY_POLYGON_OPERATORS_H

#include "planar_polygon.h"
#include <pcl/point_cloud.h>

namespace pcl
{
  /** \brief see approximatePolygon2D
    * \author Suat Gedikli <gedikli@willowgarage.com>
    */
  template <typename PointT>
  void approximatePolygon (const PlanarPolygon<PointT>& polygon, PlanarPolygon<PointT>& approx_polygon, float threshold, bool refine = false, bool closed = true);
  
  /** \brief returns an approximate polygon to given 2D contour. Uses just X and Y values.
    * \note  if refinement is not turned on, the resulting polygon will contain points from the original contour with their original z values (if any)
    * \note  if refinement is turned on, the z values of the refined polygon are not valid and should be set to 0 if point contains z attribute. 
    * \param [in] polygon input polygon
    * \param [out] approx_polygon approximate polygon
    * \param [in] threshold maximum allowed distance of an input vertex to an output edge
    * \param [in] closed whether it is a closed polygon or a polyline
    * \author Suat Gedikli <gedikli@willowgarage.com>
    */
  template <typename PointT>
  void approximatePolygon2D (const typename PointCloud<PointT>::VectorType &polygon, 
                             typename PointCloud<PointT>::VectorType &approx_polygon, 
                             float threshold, bool refine = false, bool closed = true);

} // namespace pcl

#include "impl/polygon_operations.hpp"
#endif // PCL_GEOMETRY_POLYGON_OPERATORS_H=======
