swri_geometry_util Namespace Reference

Classes
class	Polygon
struct	PolygonD
struct	Vertex

Functions
bool	ClosestPointToLines (const tf::Vector3 &a1, const tf::Vector3 &a2, const tf::Vector3 &b1, const tf::Vector3 &b2, tf::Vector3 &point)
bool	CubicSplineInterpolation (const std::vector< cv::Vec2d > &points, double delta, std::vector< std::vector< cv::Vec2d > > &splines)
bool	CubicSplineInterpolation (const std::vector< tf::Vector3 > &points, double delta, std::vector< std::vector< tf::Vector3 > > &splines)
double	DistanceFromLineSegment (const tf::Vector3 &line_start, const tf::Vector3 &line_end, const tf::Vector3 &point)
double	DistanceFromLineSegment (const cv::Vec2d &line_start, const cv::Vec2d &line_end, const cv::Vec2d &point)
double	DistanceFromPlane (const tf::Vector3 &plane_normal, const tf::Vector3 &plane_point, const tf::Vector3 &point)
double	DistanceFromPolygon (const std::vector< cv::Vec2d > &polygon, const cv::Vec2d &point)
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	PointInPolygon (const std::vector< cv::Vec2d > &polygon, const cv::Vec2d &point)
bool	PointOnLineSegment (const cv::Vec2d &p1, const cv::Vec2d &p2, const cv::Vec2d &p3)
double	PolygonIntersectionArea (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)
tf::Vector3	ProjectPointToPlane (const tf::Vector3 &plane_normal, const tf::Vector3 &plane_point, const tf::Vector3 &point)
tf::Vector3	ProjectToLineSegment (const tf::Vector3 &line_start, const tf::Vector3 &line_end, const tf::Vector3 &point)
cv::Vec2d	ProjectToLineSegment (const cv::Vec2d &line_start, const cv::Vec2d &line_end, const cv::Vec2d &point)

Function Documentation

bool swri_geometry_util::ClosestPointToLines	(	const tf::Vector3 &	a1,
		const tf::Vector3 &	a2,
		const tf::Vector3 &	b1,
		const tf::Vector3 &	b2,
		tf::Vector3 &	point
	)

Find closest point to two 3D lines.

Parameters

[in]	a1	First point on line 1.
[in]	a2	Second point on line 1.
[in]	b1	First point on line 2.
[in]	b2	Second point on line 2.
[out]	point	The closest point to both lines.

Returns

True unless a1 == a2, b1 == b2, or lines are parallel.

Definition at line 167 of file geometry_util.cpp.

bool swri_geometry_util::CubicSplineInterpolation	(	const std::vector< cv::Vec2d > &	points,
		double	delta,
		std::vector< std::vector< cv::Vec2d > > &	splines
	)

Definition at line 37 of file cubic_spline.cpp.

bool swri_geometry_util::CubicSplineInterpolation	(	const std::vector< tf::Vector3 > &	points,
		double	delta,
		std::vector< std::vector< tf::Vector3 > > &	splines
	)

Definition at line 159 of file cubic_spline.cpp.

double swri_geometry_util::DistanceFromLineSegment	(	const tf::Vector3 &	line_start,
		const tf::Vector3 &	line_end,
		const tf::Vector3 &	point
	)

Definition at line 51 of file geometry_util.cpp.

double swri_geometry_util::DistanceFromLineSegment	(	const cv::Vec2d &	line_start,
		const cv::Vec2d &	line_end,
		const cv::Vec2d &	point
	)

Definition at line 59 of file geometry_util.cpp.

double swri_geometry_util::DistanceFromPlane	(	const tf::Vector3 &	plane_normal,
		const tf::Vector3 &	plane_point,
		const tf::Vector3 &	point
	)

Calculate the distance from a point to a plane.

Parameters

[in]	plane_normal	The normal vector of the plane.
[in]	plane_point	A point on the plane.
[in]	point	The point to measure the distance of.

Returns

The distance of the point from the plane.

Definition at line 34 of file geometry_util.cpp.

double swri_geometry_util::DistanceFromPolygon	(	const std::vector< cv::Vec2d > &	polygon,
		const cv::Vec2d &	point
	)

Calcuate the distance between a point and the bounds of a polygon.

The polygon vertices are assumed to be ordered sequentially.

The distance returned is positive even if the point is within the polygon.

Parameters

[in]	polygon	The list of polygon vertices.
[in]	point	The point.

Returns

The distance from the point to the polygon. -1 is returned if the polygon is empty.

Definition at line 149 of file geometry_util.cpp.

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

Calculate the instersection between two lines defined by 4 points.

Parameters

[in]	p1	First point of line segment 1.
[in]	p2	Second point of line segment 1.
[in]	p3	First point of line segment 2.
[in]	p4	Second point of line segment 2.
[out]	c	The intersection point.

Returns

True if the lines are not parallel.

Definition at line 43 of file intersection.cpp.

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

Calculate the instersection between two line segments defined by 4 points.

In the case of parallel overlapping segments, the intersection point closest to p1 is returned.

Parameters

[in]	p1	First point of line segment 1.
[in]	p2	Second point of line segment 1.
[in]	p3	First point of line segment 2.
[in]	p4	Second point of line segment 2.
[out]	c	The intersection point.

Returns

True if the line segments intersect.

Definition at line 65 of file intersection.cpp.

bool swri_geometry_util::PointInPolygon	(	const std::vector< cv::Vec2d > &	polygon,
		const cv::Vec2d &	point
	)

Test if a point is within the bounds of a polygon.

The polygon is assumed to be non-intersecting and that the vertices are ordered sequentially in clock-wise fashion.

Parameters

[in]	polygon	The list of polygon vertices.
[in]	point	The point.

Returns

True if the point is within the bounds of the polygon.

Definition at line 119 of file geometry_util.cpp.

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

Check if a point is on a line segment.

Parameters

[in]	p1	The point.
[in]	p2	First point of the line segemnt.
[in]	p3	Second point of the line segemnt.

Returns

True if the point is on the line segment.

Definition at line 155 of file intersection.cpp.

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

Definition at line 213 of file intersection.cpp.

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

Definition at line 176 of file intersection.cpp.

tf::Vector3 swri_geometry_util::ProjectPointToPlane	(	const tf::Vector3 &	plane_normal,
		const tf::Vector3 &	plane_point,
		const tf::Vector3 &	point
	)

Definition at line 42 of file geometry_util.cpp.

tf::Vector3 swri_geometry_util::ProjectToLineSegment	(	const tf::Vector3 &	line_start,
		const tf::Vector3 &	line_end,
		const tf::Vector3 &	point
	)

Definition at line 70 of file geometry_util.cpp.

cv::Vec2d swri_geometry_util::ProjectToLineSegment	(	const cv::Vec2d &	line_start,
		const cv::Vec2d &	line_end,
		const cv::Vec2d &	point
	)

Definition at line 94 of file geometry_util.cpp.