labust::blueview::CConverter Class Reference

#include <CConverter.hpp>

List of all members.

Public Member Functions
	CConverter ()
void	llz2xy (const SonarHead &head, const TrackedFeaturePtr tracklet)
void	xy2llz (const SonarHead &head, const TrackedFeaturePtr tracklet)
	~CConverter ()
Static Public Member Functions
static std::pair< double, double >	deg2meter (double difflat, double difflon, double lat)
static std::pair< double, double >	meter2deg (double x, double y, double lat)
static void	meter2pixel (const TrackerROI &roi, const TrackedFeaturePtr tracklet)
static void	pixel2meter (const TrackerROI &roi, const TrackedFeaturePtr tracklet)
Private Types
typedef labust::math::rotation_matrix::matrix	matrix
typedef boost::numeric::ublas::vector < double >	vector
Private Member Functions
void	update (const SonarHead &head)
Private Attributes
matrix	R

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Detailed Description

The class contains conversions between frames needed for BlueView image processing.

Todo:

Drop the conversion stuff into hpp for inline.

Definition at line 50 of file CConverter.hpp.

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Member Typedef Documentation

typedef labust::math::rotation_matrix::matrix labust::blueview::CConverter::matrix [private]

Definition at line 53 of file CConverter.hpp.

typedef boost::numeric::ublas::vector<double> labust::blueview::CConverter::vector [private]

Definition at line 52 of file CConverter.hpp.

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Constructor & Destructor Documentation

CConverter::CConverter

(

)

Generic constructor.

Definition at line 40 of file CConverter.cpp.

CConverter::~CConverter

(

)

Generic destructor.

Definition at line 42 of file CConverter.cpp.

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Member Function Documentation

std::pair< double, double > CConverter::deg2meter	(	double	difflat,
		double	difflon,
		double	lat
	)		[static]

Degree to meter conversion.

Parameters:

difflat	North distance in degree
difflon	East distance in degree
lat	Latitude position in decimal degrees

Returns:

Returns pair of lat,lon degrees

These conversion where taken of Wikipedia :) http://en.wikipedia.org/wiki/Geographic_coordinate_system#Cartesian_coordinates

Definition at line 143 of file CConverter.cpp.

void CConverter::llz2xy	(	const SonarHead &	head,
		const TrackedFeaturePtr	tracklet
	)

This method converts the estimated world lat-lon-z feature coordinates to the in x-y coordianates in the sonar head.

Parameters:

head	The sonar head information.
tracklet	The tracked feature information.

Definition at line 44 of file CConverter.cpp.

std::pair< double, double > CConverter::meter2deg	(	double	x,
		double	y,
		double	lat
	)		[static]

Meters to degree conversion.

Parameters:

x	North distance in meters
y	East distance in meters
lat	Latitude position in decimal degrees

Returns:

Returns pair of lat,lon degrees

These conversion where taken of Wikipedia :) http://en.wikipedia.org/wiki/Geographic_coordinate_system#Cartesian_coordinates

Definition at line 129 of file CConverter.cpp.

void CConverter::meter2pixel	(	const TrackerROI &	roi,
		const TrackedFeaturePtr	tracklet
	)		[static]

Calculate the pixel position based on ROI information and sonar head X-Y position.

Parameters:

roi	The region of interest.
tracklet	The tracked object.

Definition at line 94 of file CConverter.cpp.

void CConverter::pixel2meter	(	const TrackerROI &	roi,
		const TrackedFeaturePtr	tracklet
	)		[static]

Calculate the pixel position back to sonar head X-Y position.

Parameters:

roi	The region of interest.
tracklet	The tracked object.

Definition at line 108 of file CConverter.cpp.

void CConverter::update

(

const SonarHead &

head

)

[private]

This method updates the rotation matrix NED->XYZ conversion

Definition at line 121 of file CConverter.cpp.

void CConverter::xy2llz	(	const SonarHead &	head,
		const TrackedFeaturePtr	tracklet
	)

This method converts the features x-y coordinates in the sonar head to the world lat-lon-z.

Parameters:

head	The sonar head information
tracklet	The tracked feature information

Definition at line 73 of file CConverter.cpp.

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Member Data Documentation

matrix labust::blueview::CConverter::R [private]

Rotation matrix NED->XYZ.

Definition at line 126 of file CConverter.hpp.

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The documentation for this class was generated from the following files:

• CConverter.hpp
• CConverter.cpp