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- #ifdef HAS_OPENCV3
- #include <opencv2/core.hpp> //Any OPENCV3 code
- #else
- #include <opencv2/core/core.hpp> //Any Opencv2 code
- #endif
- double dist(cv::Point, cv::Point);
- double inner_angle(cv::Point, cv::Point, cv::Point);
- cv::Point map_point(double, cv::Point, cv::Point);
- cv::Point unmap_point(double, cv::Point, cv::Point);
- cv::Vec<double,3> get_line(cv::Point, cv::Point);
- bool is_in_line(cv::Vec<double,3> line, cv::Point p);
- bool is_above_line(cv::Vec<double,3> line, cv::Point p);
- double line_value(cv::Vec<double,3>, cv::Point);
- cv::Point further_point_from_line(cv::Vec<double,3>, std::vector<cv::Point>);
- class CoordinateSystem
- {
- private:
- double theta;
- cv::Matx<double,2,2> R, Rt;
- cv::Point origin;
- void precompute();
- public:
- CoordinateSystem(cv::Point, cv::Point);
- CoordinateSystem(double angle, cv::Point origin_);
- cv::Point map(cv::Point p);
- cv::Point unmap(cv::Point p);
- };
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