.. _program_listing_file__tmp_ws_src_marti_common_swri_image_util_include_swri_image_util_geometry_util.h:

Program Listing for File geometry_util.h
========================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_marti_common_swri_image_util_include_swri_image_util_geometry_util.h>` (``/tmp/ws/src/marti_common/swri_image_util/include/swri_image_util/geometry_util.h``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // *****************************************************************************
   //
   // 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_