coverage_3d_tools: tools.h Source File

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00001 
00002 /*
00003  * tools.h
00004  *
00005  *  Created on: 13.07.2011
00006  *      Author: hess
00007  */
00008 
00009 #ifndef TOOLS_H_
00010 #define TOOLS_H_
00011 
00012 #include <tf/tf.h>
00013 #include <tf/transform_listener.h>
00014 #include <opencv2/core/core.hpp>
00015 
00016 
00017 float mahalanobis(const cv::Mat& v1, const cv::Mat& v2, const cv::Mat& invCov);
00018 void computeCornersFromCell(const tf::Point center, const tf::Point v1,
00019                 const tf::Point v2, tf::Point* rect_points);
00020 void computeCornersFromCell(const tf::Point center, const tf::Point v1,
00021                 const tf::Point v2, std::vector<tf::Point>& rect_points);
00022 void computeRectPixel(const IplImage *ipl_image,
00023                 const std::vector<cv::Point>& points, std::vector<cv::Point>& pixel);
00024 void computeRectPixel(const cv::Mat& image,
00025                 const std::vector<cv::Point>& points, std::vector<cv::Point>& pixel);
00026 bool linePlaneIntersection(const cv::Point3d& plane_normal, const cv::Point3d& point_in_plane,
00027                            const cv::Point3d& line_unit_vector, const cv::Point3d& line_origin,
00028                            cv::Point3d& intersection);
00029 bool getTransform(const std::string& source, const std::string& target, tf::TransformListener& listener, tf::StampedTransform& transform);
00030 bool getTransform(const std::string& source, const std::string& target, tf::StampedTransform& transform);
00031 
00032 
00033 
00034 #endif /* TOOLS_H_ */