| milind-u | 9219598 | 2022-01-22 20:29:31 -0800 | [diff] [blame] | 1 | #ifndef Y2022_VISION_POSE_ESTIMATOR_H_ |
| 2 | #define Y2022_VISION_POSE_ESTIMATOR_H_ |
| 3 | |
| 4 | #include "opencv2/imgproc.hpp" |
| 5 | #include "y2022/vision/target_estimate_generated.h" |
| 6 | |
| 7 | namespace y2022::vision { |
| 8 | |
| 9 | class TargetEstimator { |
| 10 | public: |
| 11 | // Computes the location of the target. |
| 12 | // blob_point is the mean (x, y) of blob pixels. |
| 13 | static TargetEstimateT EstimateTargetLocation(cv::Point2i blob_point, |
| 14 | const cv::Mat &intrinsics, |
| 15 | const cv::Mat &extrinsics); |
| 16 | |
| 17 | private: |
| 18 | // Height of the center of the tape (m) |
| 19 | static constexpr double kTapeHeight = 2.58 + (0.05 / 2); |
| 20 | // Horizontal distance from tape to center of hub (m) |
| 21 | static constexpr double kUpperHubRadius = 1.22 / 2; |
| 22 | }; |
| 23 | |
| 24 | } // namespace y2022::vision |
| 25 | |
| 26 | #endif // Y2022_VISION_POSE_ESTIMATOR_H_ |