Program Listing for File geometry_util.h
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// *****************************************************************************
//
// Copyright (C) 2012 All Right Reserved, Southwest Research Institute® (SwRI®)
//
// Contract No. 10-R8248
// Contractor Southwest Research Institute® (SwRI®)
// Address 6220 Culebra Road, San Antonio, Texas 78228-0510
// Contact Kris Kozak <kkozak@swri.org> (210) 522-3854
//
// This code was developed as part of an internal research project fully funded
// by Southwest Research Institute®.
//
// THIS CODE AND INFORMATION ARE PROVIDED "AS IS" WITHOUT WARRANTY OF ANY
// KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A
// PARTICULAR PURPOSE.
//
// *****************************************************************************
#ifndef IMAGE_UTIL_GEOMETRY_UTIL_H_
#define IMAGE_UTIL_GEOMETRY_UTIL_H_
#include <vector>
#include <opencv2/core/core.hpp>
#include <tf2/transform_datatypes.h>
#include <tf2/LinearMath/Vector3.h>
namespace swri_image_util
{
typedef cv::Rect_<double> BoundingBox;
double GetOverlappingArea(
const cv::Rect& rect,
const cv::Mat& rigid_transform);
bool Intersects(const BoundingBox& box1, const BoundingBox& box2);
cv::Mat ProjectEllipsoid(const cv::Mat& ellipsiod);
std::vector<tf2::Vector3> GetEllipsePoints(
const cv::Mat& ellipse,
const tf2::Vector3& center,
double scale,
int32_t num_points);
}
#endif // IMAGE_UTIL_GEOMETRY_UTIL_H_