BoundaryLinearInterpolation.hpp

// Created on: June 30, 2015
//     Author: Hafez Farazi <farazi@ais.uni-bonn.de>
#pragma once
#include <vision_module/Tools/LineSegment.hpp>
#include <math.h>
class BoundaryLineInterpolation
{
private:
    LineSegment line;
public:
    inline BoundaryLineInterpolation(LineSegment _line) :
        line(_line)
    {

    }

    inline BoundaryLineInterpolation(double nearDistance,double nearValue,double farDistance,double farValue)
    {
        line.P1=Point2d(nearDistance,nearValue);
        line.P2=Point2d(farDistance,farValue);
    }

    inline bool GetValue(double distance, double &value)
    {
        double max_y = std::max(line.P1.y, line.P2.y);
        LineSegment verLine(cv::Point(distance, 0), cv::Point2d(distance, max_y));
        cv::Point2d resBand;
        if (line.Intersect(verLine, resBand))
        {
            value = resBand.y;
            return true;
        }
        return false;
    }

    inline virtual ~BoundaryLineInterpolation()
    {

    }
};