intersection.h

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

namespace swri_geometry_util
{

  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);

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