Program Listing for File intersection.h

↰ Return to documentation for file (/tmp/ws/src/marti_common/swri_geometry_util/include/swri_geometry_util/intersection.h)

// *****************************************************************************
//
// Copyright (c) 2014, Southwest Research Institute® (SwRI®)
// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//     * Redistributions of source code must retain the above copyright
//       notice, this list of conditions and the following disclaimer.
//     * Redistributions in binary form must reproduce the above copyright
//       notice, this list of conditions and the following disclaimer in the
//       documentation and/or other materials provided with the distribution.
//     * Neither the name of Southwest Research Institute® (SwRI®) nor the
//       names of its contributors may be used to endorse or promote products
//       derived from this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// ARE DISCLAIMED. IN NO EVENT SHALL <COPYRIGHT HOLDER> BE LIABLE FOR ANY
// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
//
// *****************************************************************************

#ifndef SWRI_GEOMETRY_UTIL_INTERSECTION_H_
#define SWRI_GEOMETRY_UTIL_INTERSECTION_H_

#include <vector>
#include <opencv2/core/core.hpp>

#define HAVE_INT64_T_64  # Prevents conflict with OpenCV typedef of int64
#include <geos_c.h>
#undef HAVE_INT64_T_64

namespace swri_geometry_util
{
  GEOSContextHandle_t GetContext();

  bool LineIntersection(
      const cv::Vec2d& p1,
      const cv::Vec2d& p2,
      const cv::Vec2d& p3,
      const cv::Vec2d& p4,
      cv::Vec2d& c);

  bool LineSegmentIntersection(
      const cv::Vec2d& p1,
      const cv::Vec2d& p2,
      const cv::Vec2d& p3,
      const cv::Vec2d& p4,
      cv::Vec2d& c);

  bool PointOnLineSegment(
      const cv::Vec2d& p1,
      const cv::Vec2d& p2,
      const cv::Vec2d& p3);

  bool PolygonsIntersect(
      const std::vector<cv::Vec2d>& a,
      const std::vector<cv::Vec2d>& b);

  bool PolygonsIntersect(
      const std::vector<cv::Vec2d>& a,
      const std::vector<cv::Vec2d>& b,
      GEOSContextHandle_t& ctx);

  double PolygonIntersectionArea(
      const std::vector<cv::Vec2d>& a,
      const std::vector<cv::Vec2d>& b);

  double PolygonIntersectionArea(
      const std::vector<cv::Vec2d>& a,
      const std::vector<cv::Vec2d>& b,
      GEOSContextHandle_t& ctx);

  void ReleaseContext(GEOSContextHandle_t&  ctx);
}

#endif