geometry_util.h
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1 // *****************************************************************************
2 //
3 // Copyright (C) 2012 All Right Reserved, Southwest Research Institute® (SwRI®)
4 //
5 // Contract No. 10-R8248
6 // Contractor Southwest Research Institute® (SwRI®)
7 // Address 6220 Culebra Road, San Antonio, Texas 78228-0510
8 // Contact Kris Kozak <kkozak@swri.org> (210) 522-3854
9 //
10 // This code was developed as part of an internal research project fully funded
11 // by Southwest Research Institute®.
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19 
20 #ifndef IMAGE_UTIL_GEOMETRY_UTIL_H_
21 #define IMAGE_UTIL_GEOMETRY_UTIL_H_
22 
23 #include <vector>
24 
25 #include <opencv2/core/core.hpp>
26 
27 #include <tf/transform_datatypes.h>
28 
29 namespace swri_image_util
30 {
31  typedef cv::Rect_<double> BoundingBox;
32 
42  double GetOverlappingArea(
43  const cv::Rect& rect,
44  const cv::Mat& rigid_transform);
45 
54  bool Intersects(const BoundingBox& box1, const BoundingBox& box2);
55 
64  cv::Mat ProjectEllipsoid(const cv::Mat& ellipsiod);
65 
77  std::vector<tf::Vector3> GetEllipsePoints(
78  const cv::Mat& ellipse,
79  const tf::Vector3& center,
80  double scale,
81  int32_t num_points);
82 }
83 
84 #endif // IMAGE_UTIL_GEOMETRY_UTIL_H_
cv::Mat ProjectEllipsoid(const cv::Mat &ellipsiod)
double GetOverlappingArea(const cv::Rect &rect, const cv::Mat &rigid_transform)
bool Intersects(const BoundingBox &box1, const BoundingBox &box2)
std::vector< tf::Vector3 > GetEllipsePoints(const cv::Mat &ellipse, const tf::Vector3 &center, double scale, int32_t num_points)
cv::Rect_< double > BoundingBox
Definition: geometry_util.h:31


swri_image_util
Author(s): Kris Kozak
autogenerated on Tue Apr 6 2021 02:50:39