geometry_util.h
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00001 // *****************************************************************************
00002 //
00003 // Copyright (C) 2012 All Right Reserved, Southwest Research Institute® (SwRI®)
00004 //
00005 // Contract No.  10-R8248
00006 // Contractor    Southwest Research Institute® (SwRI®)
00007 // Address       6220 Culebra Road, San Antonio, Texas 78228-0510
00008 // Contact       Kris Kozak <kkozak@swri.org> (210) 522-3854
00009 //
00010 // This code was developed as part of an internal research project fully funded
00011 // by Southwest Research Institute®.
00012 //
00013 // THIS CODE AND INFORMATION ARE PROVIDED "AS IS" WITHOUT WARRANTY OF ANY
00014 // KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE
00015 // IMPLIED WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A
00016 // PARTICULAR PURPOSE.
00017 //
00018 // *****************************************************************************
00019 
00020 #ifndef IMAGE_UTIL_GEOMETRY_UTIL_H_
00021 #define IMAGE_UTIL_GEOMETRY_UTIL_H_
00022 
00023 #include <vector>
00024 
00025 #include <opencv2/core/core.hpp>
00026 
00027 #include <tf/transform_datatypes.h>
00028 
00029 namespace swri_image_util
00030 {
00031   typedef cv::Rect_<double> BoundingBox;
00032 
00042   double GetOverlappingArea(
00043       const cv::Rect& rect,
00044       const cv::Mat& rigid_transform);
00045 
00054   bool Intersects(const BoundingBox& box1, const BoundingBox& box2);
00055 
00064   cv::Mat ProjectEllipsoid(const cv::Mat& ellipsiod);
00065 
00077   std::vector<tf::Vector3> GetEllipsePoints(
00078       const cv::Mat& ellipse,
00079       const tf::Vector3& center,
00080       double scale,
00081       int32_t num_points);
00082 }
00083 
00084 #endif  // IMAGE_UTIL_GEOMETRY_UTIL_H_


swri_image_util
Author(s): Kris Kozak
autogenerated on Thu Jun 6 2019 20:34:52