geometry_util.h
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29 
30 #ifndef GEOMETRY_UTIL_GEOMETRY_UTIL_H_
31 #define GEOMETRY_UTIL_GEOMETRY_UTIL_H_
32 
33 #include <opencv2/core/core.hpp>
34 #include <tf/transform_datatypes.h>
35 
36 namespace swri_geometry_util
37 {
47  double DistanceFromPlane(
48  const tf::Vector3& plane_normal,
49  const tf::Vector3& plane_point,
50  const tf::Vector3& point);
51 
53  const tf::Vector3& plane_normal,
54  const tf::Vector3& plane_point,
55  const tf::Vector3& point);
56 
58  const tf::Vector3& line_start,
59  const tf::Vector3& line_end,
60  const tf::Vector3& point);
61 
63  const cv::Vec2d& line_start,
64  const cv::Vec2d& line_end,
65  const cv::Vec2d& point);
66 
68  const tf::Vector3& line_start,
69  const tf::Vector3& line_end,
70  const tf::Vector3& point);
71 
72  cv::Vec2d ProjectToLineSegment(
73  const cv::Vec2d& line_start,
74  const cv::Vec2d& line_end,
75  const cv::Vec2d& point);
76 
88  bool PointInPolygon(
89  const std::vector<cv::Vec2d>& polygon,
90  const cv::Vec2d& point);
91 
105  double DistanceFromPolygon(
106  const std::vector<cv::Vec2d>& polygon,
107  const cv::Vec2d& point);
108 
120  bool ClosestPointToLines(
121  const tf::Vector3& a1,
122  const tf::Vector3& a2,
123  const tf::Vector3& b1,
124  const tf::Vector3& b2,
125  tf::Vector3& point);
126 }
127 
128 #endif // GEOMETRY_UTIL_GEOMETRY_UTIL_H_
bool PointInPolygon(const std::vector< cv::Vec2d > &polygon, const cv::Vec2d &point)
double DistanceFromPolygon(const std::vector< cv::Vec2d > &polygon, const cv::Vec2d &point)
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)
double DistanceFromPlane(const tf::Vector3 &plane_normal, const tf::Vector3 &plane_point, const tf::Vector3 &point)
bool ClosestPointToLines(const tf::Vector3 &a1, const tf::Vector3 &a2, const tf::Vector3 &b1, const tf::Vector3 &b2, tf::Vector3 &point)
double DistanceFromLineSegment(const tf::Vector3 &line_start, const tf::Vector3 &line_end, const tf::Vector3 &point)


swri_geometry_util
Author(s): Marc Alban
autogenerated on Fri Jun 7 2019 22:05:39