g_util.h

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/* $Id: g_util.h 18278 2014-11-25 01:42:10Z ksimek $ */
/* =========================================================================== *
   |
   |  Copyright (c) 1994-2010 by Kobus Barnard (author)
   |
   |  Personal and educational use of this code is granted, provided that this
   |  header is kept intact, and that the authorship is not misrepresented, that
   |  its use is acknowledged in publications, and relevant papers are cited.
   |
   |  For other use contact the author (kobus AT cs DOT arizona DOT edu).
   |
   |  Please note that the code in this file has not necessarily been adequately
   |  tested. Naturally, there is no guarantee of performance, support, or fitness
   |  for any particular task. Nonetheless, I am interested in hearing about
   |  problems that you encounter.
   |
   |  Author:  Kyle Simek
 * =========================================================================== */

#ifndef KJB_CPP_G_UTIL
#define KJB_CPP_G_UTIL

#include <m_cpp/m_vector.h>
#include <m_cpp/m_matrix.h>
#include <m_cpp/m_vector_d.h>
#include <m_cpp/m_matrix_d.h>

namespace kjb {
namespace geometry {

Matrix get_translation_matrix(const Vector& v);


Matrix get_rotation_matrix(double theta);


Matrix get_rotation_matrix(const Vector& u, const Vector& v);

template<size_t D>
inline
Matrix_d<D, D> get_rotation_matrix(const Vector_d<D>& u, const Vector_d<D>& v)
{
    return Matrix_d<D, D>(
            get_rotation_matrix(
                Vector(u.begin(), u.end()),
                Vector(v.begin(), v.end())));
}

Vector projective_to_euclidean(const Vector& v);


Vector projective_to_euclidean_2d(const Vector& v);

Vector euclidean_to_projective(const Vector& v);


Vector euclidean_to_projective_2d(const Vector& v);

bool is_point_in_polygon_new(Matrix poly,Vector point);

/*
polygon_to_mask()

Takes a polygon and returns a height by width zero-1 matrix, where the 1's 
correspond to the area covered by the polygon, and 0's are where the
polygon is not. 

@param 
poly - a Nx2 Matrix of the points of a Convex Polygon, in a cyclic order.
height - height (rows) of mask Matrix
width - width (cols) of mask Matrix

*/
Matrix polygon_to_mask(Matrix poly,int height, int width);

}} // namespace kjb

#endif