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

◆ ClosestPointToLines()

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.

◆ CubicSplineInterpolation() [1/2]

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.

◆ CubicSplineInterpolation() [2/2]

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.

◆ DistanceFromLineSegment() [1/2]

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.

◆ DistanceFromLineSegment() [2/2]

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.

◆ DistanceFromPlane()

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.

◆ DistanceFromPolygon()

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.

◆ LineIntersection()

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.

◆ LineSegmentIntersection()

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.

◆ PointInPolygon()

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.

◆ PointOnLineSegment()

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.

◆ PolygonIntersectionArea()

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.

◆ PolygonsIntersect()

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.

◆ ProjectPointToPlane()

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.

◆ ProjectToLineSegment() [1/2]

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.

◆ ProjectToLineSegment() [2/2]

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.

Classes

Functions

Function Documentation

◆ ClosestPointToLines()

◆ CubicSplineInterpolation() [1/2]

◆ CubicSplineInterpolation() [2/2]

◆ DistanceFromLineSegment() [1/2]

◆ DistanceFromLineSegment() [2/2]

◆ DistanceFromPlane()

◆ DistanceFromPolygon()

◆ LineIntersection()

◆ LineSegmentIntersection()

◆ PointInPolygon()

◆ PointOnLineSegment()

◆ PolygonIntersectionArea()

◆ PolygonsIntersect()

◆ ProjectPointToPlane()

◆ ProjectToLineSegment() [1/2]

◆ ProjectToLineSegment() [2/2]