text: //
  // Created by tonio on 21/03/16.
  //
  
  #ifndef IARC7_LOCALIZATION_LINEINTERSECTIONS_H
  #define IARC7_LOCALIZATION_LINEINTERSECTIONS_H
  
  #include <vector>
  #include <opencv2/core/core.hpp>
  #include <eigen3/Eigen/Dense>
  
  std::vector<cv::Point> findCentroids(std::vector<int> clusters, std::vector<cv::Point> linePoints);
  
  std::vector<cv::Vec2f> getRhoTheta(std::vector<cv::Point> linePoints);
  
  cv::Vec2f getRhoTheta(cv::Point linePoint);
  
  cv::Point findIntersection(cv::Point linePoint1, cv::Point linePoint2);
  
  std::vector<cv::Point> findIntersections(std::vector<int> clusters, std::vector<cv::Point> linePoints);
  
  std::vector<cv::Point> findIntersections(std::vector<int> clusters_x, std::vector<int> clusters_y,
                                           std::vector<cv::Point> linePoints_x, std::vector<cv::Point> linePoints_y);
  
  #endif //IARC7_LOCALIZATION_LINEINTERSECTIONS_H
  