conscience_utils::geom Namespace Reference

Functions
bool	isPointGreaterThan (const CscPoint3d *a, const CscPoint3d *b)
bool	equalCscPoint3d (const CscPoint3d *a, const CscPoint3d *b)
void	removeDuplicatePositionsPerf (vector< CscPoint3d * > *positions)
double	degToRad (const double &degree)
float	degToRad (const float &degree)
double	radToDeg (const double &radian)
double	getShortestAngleSigned (const double &fromAngle, const double &toAngle)
double	averageOfAngleInRad (const vector< double > &angles)
double	averageOfAngleInDeg (const vector< double > &angles)
double	angleAdjustment (const double &angle)
double	angleAdjustmentRadsPiToMinusPi (const double &angle)
CscQuaternion	toQuaternion (double yaw, double pitch, double roll)
	Quaternion is a matrix representation of a rotation in a 3D space. Used to simplify some calculs. More...
double	calculateAngleBetweenTwoPosition (CscPoint3d *secondPosition, CscPoint3d *firstPosition)
double	distanceBetween (double x1, double y1, double x2, double y2)
CscQuaternion	multiplyQuaternion (const CscQuaternion &quaternion1, const CscQuaternion &quaternion2)
CscPoint3d *	rotatePointWithQuaternion (CscPoint3d *point, const CscQuaternion &quaternion)
CscPoint3d *	transformPointFromMatrix (const CscPoint3d *point, const vector< double > &matrix)
vector< double >	multiplyMatrices (const vector< double > &matrix1, vector< double > &matrix2)
Vec4	multiplyMatrixVec4 (const double matrix[4][4], const Vec4 &vec)
void	multiplyMat4 (const double a[4][4], const double b[4][4], double result[4][4])
string	mat4ToString (const double matrix[4][4])
string	vec3ToString (const Vec3 &vec)
void	copyMat4 (const double source[4][4], double target[4][4])
bool	comparePoint3d (const CscPoint3d *p1, const CscPoint3d *p2)
	Compares two 3D points for equality, if a point is nullptr , return true only if the second is nullptr. More...
double	getPointsHighestX (const std::vector< const CscPoint3d * > &areaVertices, optional< double > precision)
double	getPointsLowestX (const std::vector< const CscPoint3d * > &areaVertices, optional< double > precision)
double	getPointsHighestZ (const std::vector< const CscPoint3d * > &areaVertices, optional< double > precision)
double	getPointsLowestZ (const std::vector< const CscPoint3d * > &areaVertices, optional< double > precision)
bool	isPointInsideArea (const std::vector< const CscPoint3d * > &areaVertices, CscPoint3d *pointToCheck)
float	getMinXForUpStep (float upMin, float upMax, const vector< CscPoint3d * > *positions)
float	getMaxXForUpStep (float upMin, float upMax, const vector< CscPoint3d * > *positions)
float	getMinYForUpStep (float upMin, float upMax, const vector< CscPoint3d * > *positions)
float	getMaxYForUpStep (float upMin, float upMax, const vector< CscPoint3d * > *positions)
CscPoint3d *	zUpToYup (CscPoint3d *position)
CscPoint3d *	getMinPoint (vector< CscPoint3d * > *positions)
CscPoint3d *	getMaxPoint (vector< CscPoint3d * > *positions)
void	removeDuplicatePositions (vector< CscPoint3d * > *positions)
double	dotXZ (const CscPoint3d &a, const CscPoint3d &b)
double	normXZ (const CscPoint3d &v)
CscPoint3d	normalizeXZ (const CscPoint3d &v)
CscPoint3d	perpendicularXZ (const CscPoint3d &v)
double	signedDistanceToLineXZ (const CscPoint3d &p, const CscPoint3d &origin, const CscPoint3d &normal)
bool	pointInTriangleXZWithEpsilon (const CscPoint3d &pt, const CscPoint3d &a, const CscPoint3d &b, const CscPoint3d &c, double epsilon)
bool	pointInQuadXZWithEpsilon (const CscPoint3d &pt, const CscPoint3d &p1, const CscPoint3d &p2, const CscPoint3d &p3, const CscPoint3d &p4, double epsilon)
vector< CscPoint3d * >	slicePolygonsAtY (const vector< CscPolygon * > &polygons, double ySlice, double precisionCm=5.0)
	Computes the 2D slice (plan cut) at Y = ySlice and returns a flat list of unique points. Internally builds closed contours and welds nearby vertices (tolerance = precisionCm). The result is a clean set of points that form continuous walls when drawn with nearest-neighbour or contour lines. More...
CscPoint3d *	rotatePointWithQuaternion (const CscPoint3d *point, const CscQuaternion &quaternion)
vector< double >	multiplyMatrices (const vector< double > &matrix1, const vector< double > &matrix2)
CscPoint3d *	getMinPoint (std::vector< CscPoint3d * > *positions)
CscPoint3d *	getMaxPoint (std::vector< CscPoint3d * > *positions)
void	removeDuplicatePositions (std::vector< CscPoint3d * > *positions)
void	removeDuplicatePositionsPerf (std::vector< CscPoint3d * > *positions)
double	getIntersectionOverUnion (const cv::Rect2d &bb1, const cv::Rect2d &bb2)
bool	isRotationMatrix (const cv::Mat &R)
void	rotateMatrix (const cv::Mat &src, double angleDegrees, cv::Mat &target, cv::Scalar fillColor)
cv::Vec3f	rotationMatrixToEulerAngles (const cv::Mat &R)
bool	matIsEqual (const cv::Mat &img1, const cv::Mat &img2)
template<typename T >
bool	isIncludedInOther (const cv::Rect_< T > &rect1, const cv::Rect_< T > &rect2)
template<typename T >
cv::Point_< T >	rectangleCenter (const cv::Rect_< T > &rect)
template<typename T >
T	distanceBetween (const cv::Point_< T > &point, const cv::Point_< T > &point2)
template<typename T >
cv::Point_< T >	pointsCenter (const cv::Point_< T > &point, const cv::Point_< T > &point2)
template<typename T >
T	distanceBetween (const cv::Rect_< T > &rectangle1, const cv::Rect_< T > &rectangle2)
template<typename T >
string	rectToString (const cv::Rect_< T > &rect)
template<typename T >
string	pointToString (const cv::Point_< T > &point)
template<typename T >
string	sizeToString (const cv::Size_< T > &size)
template<typename T >
cv::Rect_< T >	averageRectangle (const vector< cv::Rect_< T >> &rectangles)
template<typename T >
bool	equals (const cv::Size_< T > &size1, const cv::Size_< T > &size2)
template<typename T >
double	anglePointsInRad (const cv::Point_< T > &point, const cv::Point_< T > &point2)

Function Documentation

angleAdjustment()

double conscience_utils::geom::angleAdjustment

(

const double &

angle

)

Reduces the results in-between [-180;180] interval counterclock-wise. parameter in degree

angleAdjustmentRadsPiToMinusPi()

double conscience_utils::geom::angleAdjustmentRadsPiToMinusPi

(

const double &

angle

)

Reduces the results in-between [PI;-PI] interval

anglePointsInRad()

template<typename T >

double conscience_utils::geom::anglePointsInRad	(	const cv::Point_< T > &	point,
		const cv::Point_< T > &	point2
	)

computes angle between two points. point is the reference, point 2 is the other drawing the line of the angle

averageOfAngleInDeg()

double conscience_utils::geom::averageOfAngleInDeg

(

const vector< double > &

angles

)

parameters in degrees and returns in degrees. interval [-180;180]

averageOfAngleInRad()

double conscience_utils::geom::averageOfAngleInRad

(

const vector< double > &

angles

)

parameters in radians and returns in radians. interval [-π;π]

averageRectangle()

template<typename T >

cv::Rect_<T> conscience_utils::geom::averageRectangle

(

const vector< cv::Rect_< T >> &

rectangles

)

calculateAngleBetweenTwoPosition()

double conscience_utils::geom::calculateAngleBetweenTwoPosition	(	CscPoint3d *	secondPosition,
		CscPoint3d *	firstPosition
	)

Angle calculation in a -180 to 180 degree trigonometry. Warning : the importance of order in parameter, switching the 2 position will change the resuls.

comparePoint3d()

bool conscience_utils::geom::comparePoint3d	(	const CscPoint3d *	p1,
		const CscPoint3d *	p2
	)

Compares two 3D points for equality, if a point is nullptr , return true only if the second is nullptr.

copyMat4()

void conscience_utils::geom::copyMat4	(	const double	source[4][4],
		double	target[4][4]
	)

degToRad() [1/2]

double conscience_utils::geom::degToRad

(

const double &

degree

)

Results will be defined in-between [-π;π] counterclock-wise

degToRad() [2/2]

float conscience_utils::geom::degToRad

(

const float &

degree

)

distanceBetween() [1/3]

template<typename T >

T conscience_utils::geom::distanceBetween	(	const cv::Point_< T > &	point,
		const cv::Point_< T > &	point2
	)

distanceBetween() [2/3]

template<typename T >

T conscience_utils::geom::distanceBetween	(	const cv::Rect_< T > &	rectangle1,
		const cv::Rect_< T > &	rectangle2
	)

Distance between rectangles centers

distanceBetween() [3/3]

double conscience_utils::geom::distanceBetween	(	double	x1,
		double	y1,
		double	x2,
		double	y2
	)

dotXZ()

double conscience_utils::geom::dotXZ	(	const CscPoint3d &	a,
		const CscPoint3d &	b
	)

Returns the scalar product of two 3D vectors, considering only their X and Z components.

equalCscPoint3d()

bool conscience_utils::geom::equalCscPoint3d	(	const CscPoint3d *	a,
		const CscPoint3d *	b
	)

equals()

template<typename T >

bool conscience_utils::geom::equals	(	const cv::Size_< T > &	size1,
		const cv::Size_< T > &	size2
	)

getIntersectionOverUnion()

double conscience_utils::geom::getIntersectionOverUnion	(	const cv::Rect2d &	bb1,
		const cv::Rect2d &	bb2
	)

getMaxPoint() [1/2]

CscPoint3d* conscience_utils::geom::getMaxPoint

(

std::vector< CscPoint3d * > *

positions

)

getMaxPoint() [2/2]

CscPoint3d* conscience_utils::geom::getMaxPoint

(

vector< CscPoint3d * > *

positions

)

getMaxXForUpStep()

float conscience_utils::geom::getMaxXForUpStep	(	float	upMin,
		float	upMax,
		const vector< CscPoint3d * > *	positions
	)

getMaxYForUpStep()

float conscience_utils::geom::getMaxYForUpStep	(	float	upMin,
		float	upMax,
		const vector< CscPoint3d * > *	positions
	)

getMinPoint() [1/2]

CscPoint3d* conscience_utils::geom::getMinPoint

(

std::vector< CscPoint3d * > *

positions

)

getMinPoint() [2/2]

CscPoint3d* conscience_utils::geom::getMinPoint

(

vector< CscPoint3d * > *

positions

)

getMinXForUpStep()

float conscience_utils::geom::getMinXForUpStep	(	float	upMin,
		float	upMax,
		const vector< CscPoint3d * > *	positions
	)

getMinYForUpStep()

float conscience_utils::geom::getMinYForUpStep	(	float	upMin,
		float	upMax,
		const vector< CscPoint3d * > *	positions
	)

getPointsHighestX()

double conscience_utils::geom::getPointsHighestX	(	const std::vector< const CscPoint3d * > &	areaVertices,
		optional< double >	precision
	)

getPointsHighestZ()

double conscience_utils::geom::getPointsHighestZ	(	const std::vector< const CscPoint3d * > &	areaVertices,
		optional< double >	precision
	)

getPointsLowestX()

double conscience_utils::geom::getPointsLowestX	(	const std::vector< const CscPoint3d * > &	areaVertices,
		optional< double >	precision
	)

getPointsLowestZ()

double conscience_utils::geom::getPointsLowestZ	(	const std::vector< const CscPoint3d * > &	areaVertices,
		optional< double >	precision
	)

getShortestAngleSigned()

double conscience_utils::geom::getShortestAngleSigned	(	const double &	fromAngle,
		const double &	toAngle
	)

Angle calculation in a -180 to 180 degree trigonometry. Warning : the importance of order in parameter, switching the 2 angles will change the resuls.

isIncludedInOther()

template<typename T >

bool conscience_utils::geom::isIncludedInOther	(	const cv::Rect_< T > &	rect1,
		const cv::Rect_< T > &	rect2
	)

Returns true if first rectangle is inside second, and vice & versa

isPointGreaterThan()

bool conscience_utils::geom::isPointGreaterThan	(	const CscPoint3d *	a,
		const CscPoint3d *	b
	)

isPointInsideArea()

bool conscience_utils::geom::isPointInsideArea	(	const std::vector< const CscPoint3d * > &	areaVertices,
		CscPoint3d *	pointToCheck
	)

isRotationMatrix()

bool conscience_utils::geom::isRotationMatrix

(

const cv::Mat &

R

)

mat4ToString()

string conscience_utils::geom::mat4ToString

(

const double

matrix[4][4]

)

matIsEqual()

bool conscience_utils::geom::matIsEqual	(	const cv::Mat &	img1,
		const cv::Mat &	img2
	)

multiplyMat4()

void conscience_utils::geom::multiplyMat4	(	const double	a[4][4],
		const double	b[4][4],
		double	result[4][4]
	)

multiplyMatrices() [1/2]

vector<double> conscience_utils::geom::multiplyMatrices	(	const vector< double > &	matrix1,
		const vector< double > &	matrix2
	)

multiplyMatrices() [2/2]

vector<double> conscience_utils::geom::multiplyMatrices	(	const vector< double > &	matrix1,
		vector< double > &	matrix2
	)

multiplyMatrixVec4()

Vec4 conscience_utils::geom::multiplyMatrixVec4	(	const double	matrix[4][4],
		const Vec4 &	vec
	)

multiplyQuaternion()

CscQuaternion conscience_utils::geom::multiplyQuaternion	(	const CscQuaternion &	quaternion1,
		const CscQuaternion &	quaternion2
	)

return a NEW quaternion corresponding to the multiplication of the 2 quaternions given

normalizeXZ()

CscPoint3d conscience_utils::geom::normalizeXZ

(

const CscPoint3d &

v

)

Returns a unit vector (length = 1) in the same XZ direction as the input vector. If the vector is zero-length in the XZ plane, returns a zero vector.

normXZ()

double conscience_utils::geom::normXZ

(

const CscPoint3d &

v

)

Computes the Euclidean norm (length) of a vector using only its X and Z components.

perpendicularXZ()

CscPoint3d conscience_utils::geom::perpendicularXZ

(

const CscPoint3d &

v

)

Returns a vector rotated 90 degrees to the left (counter-clockwise) in the XZ plane. The Y component is always set to zero.

pointInQuadXZWithEpsilon()

bool conscience_utils::geom::pointInQuadXZWithEpsilon	(	const CscPoint3d &	pt,
		const CscPoint3d &	p1,
		const CscPoint3d &	p2,
		const CscPoint3d &	p3,
		const CscPoint3d &	p4,
		double	epsilon
	)

Checks if a point is inside a quadrilateral (p1->p2->p3->p4, XZ plane) with an epsilon tolerance

pointInTriangleXZWithEpsilon()

bool conscience_utils::geom::pointInTriangleXZWithEpsilon	(	const CscPoint3d &	pt,
		const CscPoint3d &	a,
		const CscPoint3d &	b,
		const CscPoint3d &	c,
		double	epsilon
	)

Checks if a point is inside a triangle (XZ plane) with an epsilon tolerance

pointsCenter()

template<typename T >

cv::Point_<T> conscience_utils::geom::pointsCenter ( const cv::Point_< T > &  point, const cv::Point_< T > &  point2  )

inline

pointToString()

template<typename T >

string conscience_utils::geom::pointToString

(

const cv::Point_< T > &

point

)

radToDeg()

double conscience_utils::geom::radToDeg

(

const double &

radian

)

Results will be defined in-between [-180;180] counterclock-wise

rectangleCenter()

template<typename T >

cv::Point_<T> conscience_utils::geom::rectangleCenter

(

const cv::Rect_< T > &

rect

)

rectToString()

template<typename T >

string conscience_utils::geom::rectToString

(

const cv::Rect_< T > &

rect

)

removeDuplicatePositions() [1/2]

void conscience_utils::geom::removeDuplicatePositions

(

std::vector< CscPoint3d * > *

positions

)

removeDuplicatePositions() [2/2]

void conscience_utils::geom::removeDuplicatePositions

(

vector< CscPoint3d * > *

positions

)

removeDuplicatePositionsPerf() [1/2]

void conscience_utils::geom::removeDuplicatePositionsPerf

(

std::vector< CscPoint3d * > *

positions

)

removeDuplicatePositionsPerf() [2/2]

void conscience_utils::geom::removeDuplicatePositionsPerf

(

vector< CscPoint3d * > *

positions

)

rotateMatrix()

void conscience_utils::geom::rotateMatrix	(	const cv::Mat &	src,
		double	angleDegrees,
		cv::Mat &	target,
		cv::Scalar	fillColor
	)

rotatePointWithQuaternion() [1/2]

CscPoint3d* conscience_utils::geom::rotatePointWithQuaternion	(	const CscPoint3d *	point,
		const CscQuaternion &	quaternion
	)

return a NEW point corresponding to point rotate with the quaternion

rotatePointWithQuaternion() [2/2]

CscPoint3d* conscience_utils::geom::rotatePointWithQuaternion	(	CscPoint3d *	point,
		const CscQuaternion &	quaternion
	)

rotationMatrixToEulerAngles()

cv::Vec3f conscience_utils::geom::rotationMatrixToEulerAngles

(

const cv::Mat &

R

)

signedDistanceToLineXZ()

double conscience_utils::geom::signedDistanceToLineXZ	(	const CscPoint3d &	p,
		const CscPoint3d &	origin,
		const CscPoint3d &	normal
	)

Computes the signed distance from point p to a line defined by an origin and a unit normal vector in the XZ plane. The sign indicates which side of the line the point is on.

sizeToString()

template<typename T >

string conscience_utils::geom::sizeToString

(

const cv::Size_< T > &

size

)

slicePolygonsAtY()

vector< CscPoint3d * > conscience_utils::geom::slicePolygonsAtY	(	const vector< CscPolygon * > &	polygons,
		double	ySlice,
		double	precisionCm = 5.0
	)

Computes the 2D slice (plan cut) at Y = ySlice and returns a flat list of unique points. Internally builds closed contours and welds nearby vertices (tolerance = precisionCm). The result is a clean set of points that form continuous walls when drawn with nearest-neighbour or contour lines.

Parameters

polygons	Input triangle mesh (coordinates in centimeters)
ySlice	Y level of the cutting plane (in centimeters)
precisionCm	Tolerance in centimeters for welding nearby intersection points Default = 5.0 cm

Returns

std::vector<CscPoint3d*> containing all unique slice points. Caller owns the memory – must DELETE the pointers when finished.

toQuaternion()

CscQuaternion conscience_utils::geom::toQuaternion	(	double	yaw,
		double	pitch,
		double	roll
	)

Quaternion is a matrix representation of a rotation in a 3D space. Used to simplify some calculs.

transformPointFromMatrix()

CscPoint3d * conscience_utils::geom::transformPointFromMatrix	(	const CscPoint3d *	point,
		const vector< double > &	matrix
	)

vec3ToString()

string conscience_utils::geom::vec3ToString

(

const Vec3 &

vec

)

zUpToYup()

CscPoint3d * conscience_utils::geom::zUpToYup

(

CscPoint3d *

position

)