CConverter.hpp

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#ifndef CCONVERTER_HPP_
#define CCONVERTER_HPP_
#include <labust/blueview/trackerfwd.hpp>
#include <labust/math/Rotation.hpp>

#include <opencv2/core/core.hpp>

namespace labust
{
  namespace blueview
  {
    class CConverter
    {
        typedef boost::numeric::ublas::vector<double> vector;
        typedef labust::math::rotation_matrix::matrix matrix;
    public:
      CConverter();
      ~CConverter();

      void llz2xy(const SonarHead& head, const TrackedFeaturePtr tracklet);
      void xy2llz(const SonarHead& head, const TrackedFeaturePtr tracklet);

      static std::pair<double,double> meter2deg(double x, double y, double lat);
      static std::pair<double,double> deg2meter(double difflat, double difflon, double lat);

      static void meter2pixel(const TrackerROI& roi, const TrackedFeaturePtr tracklet);
      static void pixel2meter(const TrackerROI& roi, const TrackedFeaturePtr tracklet);

    private:
      void update(const SonarHead& head);

      matrix R;
    };
  }
}

#endif /* TRACKERROI_HPP_ */