geometry_util.h

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#ifndef GEOMETRY_UTIL_GEOMETRY_UTIL_H_
#define GEOMETRY_UTIL_GEOMETRY_UTIL_H_

#include <opencv2/core/core.hpp>
#include <tf/transform_datatypes.h>

namespace swri_geometry_util
{
  double DistanceFromPlane(
      const tf::Vector3& plane_normal,
      const tf::Vector3& plane_point,
      const tf::Vector3& point);
      
  tf::Vector3 ProjectPointToPlane(
      const tf::Vector3& plane_normal,
      const tf::Vector3& plane_point,
      const tf::Vector3& point);

  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);

  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);

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

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

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

#endif  // GEOMETRY_UTIL_GEOMETRY_UTIL_H_