asj_pe_project/include/utils.h

#include "dl_api.h"

#define EUCLIDEAN_DISTANCE(x1, y1, x2, y2) (sqrt(pow((x2 - x1), 2) + pow((y2 - y1), 2)))
// >0 -> Clockwise orientation || <0 -> Counterclockwise orientation || =0 -> Collinear orientation
#define POINT_ON_SIDE(p1, p2, p3) ((p2.y - p1.y) * (p3.x - p2.x) - (p2.x - p1.x) * (p3.y - p2.y))
#define CALC_ANGLE(p1, p2, p3) (std::acos(((p2.x - p1.x) * (p3.x - p1.x) + (p2.y - p1.y) * (p3.y - p1.y)) / (std::sqrt((std::pow(p2.x - p1.x, 2) + std::pow(p2.y - p1.y, 2))) * std::sqrt((std::pow(p3.x - p1.x, 2) + std::pow(p3.y - p1.y, 2))))) * 180 / M_PI)
#define LINE_ANGLE(point1, point2) (std::atan2((point2.y) - (point1.y), (point2.x) - (point1.x)) * 180 / M_PI)
#define IOU(rect1, rect2) \
    ({ \
        float xmin1 = rect1.x; \
        float ymin1 = rect1.y; \
        float xmax1 = rect1.x + rect1.w; \
        float ymax1 = rect1.y + rect1.h; \
        float xmin2 = rect2.x; \
        float ymin2 = rect2.y; \
        float xmax2 = rect2.x + rect2.w; \
        float ymax2 = rect2.y + rect2.h; \
        float interArea = \
            (std::min(xmax1, xmax2) - std::max(xmin1, xmin2)) * \
            (std::min(ymax1, ymax2) - std::max(ymin1, ymin2)); \
        float rect1Area = rect1.w * rect1.h; \
        float rect2Area = rect2.w * rect2.h; \
        float iou = interArea / (rect1Area + rect2Area - interArea); \
        iou; \
    })

static bool isPointInRect(sampleRunJoint_POINT_S p, sampleRunJoint_RECT_S r) { 
    return (p.x >= r.x && p.x <= r.x + r.w && p.y >= r.y && p.y <= r.y + r.h); 
} 
 
static bool isLineIntersectRect(sampleRunJoint_POINT_S l1, sampleRunJoint_POINT_S l2, sampleRunJoint_RECT_S r) { 
    if (isPointInRect(l1, r) || isPointInRect(l2, r)) { 
        return true; 
    } 
    if (l1.x > r.x + r.w && l2.x > r.x + r.w) { 
        return false; 
    } 
    if (l1.x < r.x  && l2.x < r.x) { 
        return false; 
    } 
    if (l1.y > r.y + r.h && l2.y > r.y + r.h) { 
        return false; 
    } 
    if (l1.y < r.y && l2.y < r.y) { 
        return false; 
    } 
    return true; 
}

static sampleRunJoint_POINT_S calculateCentroid(const sampleRunJoint_POINT_S& p1, const sampleRunJoint_POINT_S& p2) {
    sampleRunJoint_POINT_S centroid;
    centroid.x = (p1.x + p2.x) / 2;
    centroid.y = (p1.y + p2.y) / 2;
    return centroid;
}