bounding_box.hpp

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// Copyright Institute for Automotive Engineering (ika), RWTH Aachen University
// SPDX-License-Identifier: Apache-2.0
 
#pragma once
 
#include <array>
#include <vector>
 
namespace pcod_common {
 
struct ClassificationEntry {
  std::size_t class_idx;  
  float score;            
};
 
struct BoundingBoxVertex {
  float x;  
  float y;  
 
  BoundingBoxVertex(float x_in = 0.0f, float y_in = 0.0f) : x(x_in), y(y_in) {}
 
  BoundingBoxVertex operator+(const BoundingBoxVertex& v) const { return {x + v.x, y + v.y}; }
  BoundingBoxVertex operator-(const BoundingBoxVertex& v) const { return {x - v.x, y - v.y}; }
  float cross(const BoundingBoxVertex& v) const { return x * v.y - y * v.x; }
};
 
struct Line {
  float a;  
  float b;  
  float c;  
 
  Line(const BoundingBoxVertex& v1, const BoundingBoxVertex& v2) {
    a = v2.y - v1.y;
    b = v1.x - v2.x;
    c = v2.cross(v1);
  }
 
  float operator()(const BoundingBoxVertex& p) const { return a * p.x + b * p.y + c; }
 
  BoundingBoxVertex intersection(const Line& other) const {
    float w = a * other.b - b * other.a;
    return BoundingBoxVertex((b * other.c - c * other.b) / w, (c * other.a - a * other.c) / w);
  }
};
 
struct BoundingBox {
  std::array<float, 2> center;                      
  float z = 0.0f;                                   
  float length = 0.0f;                              
  float width = 0.0f;                               
  float height = 0.0f;                              
  float yaw = 0.0f;                                 
  float existence_probability = 0.0f;               
  std::vector<ClassificationEntry> classification;  
  bool has_velocity = false;                        
  float v_x = 0.0f;                                 
  float v_y = 0.0f;                                 
 
  bool overlaps(const BoundingBox& other, float iou_threshold) const;
  float intersection_area(const BoundingBox& other) const;
  std::vector<BoundingBoxVertex> rectangle_vertices() const;
};
 
}  // namespace pcod_common