puai_wj_2021/verify/Railing.cpp

//
// Created by zx on 2020/1/10.
//

#include "Railing.h"

/*
     * 构造函数
     * a,b,c代表栏杆所在直线方程, ax+by+c=0
     * width:表示栏杆的宽
     */
Railing::Railing(float a,float b,float c,float width)
{
    m_a=a;
    m_b=b;
    m_c=c;
    m_width=width;
}
/*
 * 检验结果框,是否会与栏杆冲突
 */
Error_manager Railing::verify(cv::RotatedRect rotate_rect)
{
    //检验内部参数是否合法
    if(m_a==0 && m_b==0)
    {
        return Error_manager(HARDWARE_LIMIT_RAILING_PARAMETER_ERROR,NORMAL,"railing parameter a&b = 0");
    }
    //第一步,获取旋转矩形四个顶角
    cv::Point2f vertice[4];
    rotate_rect.points(vertice);
    //第二步.判断四个顶点是否在栏杆不同侧面,且与直线距离<m_width
    bool limit_left=false;
    bool limit_right=false;
    for(int i=0;i<4;++i)
    {
        //计算顶点与直线的距离
        cv::Point2f point=vertice[i];
        float x=point.x;
        float y=point.y;
        float distance=fabs(m_a*x+m_b*y+m_c)/sqrt(m_a*m_a+m_b*m_b);
        if(distance<m_width)
        {
            //顶点在栏杆上,必定会碰撞
            return Error_manager(HARDWARE_LIMIT_RAILING_ERROR,NORMAL,"railing error");
        }
        else
        {
            //顶点在直线右边
            if(m_a*x+m_b*y+m_c>0)
                limit_right=true;
            else if(m_a*x+m_b*y+m_c<0)
                limit_left=true;

        }
    }
    //如果左右都有顶点, 则与栏杆碰撞
    if(limit_left==true && limit_right==true)
    {
        return Error_manager(HARDWARE_LIMIT_RAILING_ERROR,NORMAL,"railing error");
    }
    return SUCCESS;
}