/*
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 *
 *  Point Cloud Library (PCL) - www.pointclouds.org
 *  Copyright (c) 2010-2011, Willow Garage, Inc.
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#pragma once

#include <pcl/point_cloud.h>

#include "planar_polygon.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 refine
 * \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"
