| 45 | { |
| 46 | |
| 47 | Detection::Detection(opt_msgs::Detection detection, open_ptrack::detection::DetectionSource* source) : |
| 48 | detection_msg_(detection), source_(source) |
| 49 | { |
| 50 | // Transform centroid, top and bottom points from camera frame to world frame: |
| 51 | Eigen::Vector3d v; |
| 52 | v(0) = detection.centroid.x; |
| 53 | v(1) = detection.centroid.y; |
| 54 | v(2) = detection.centroid.z; |
| 55 | world_centroid_ = source->transform(v); |
| 56 | |
| 57 | v(0) = detection.top.x; |
| 58 | v(1) = detection.top.y; |
| 59 | v(2) = detection.top.z; |
| 60 | world_top_ = source->transform(v); |
| 61 | |
| 62 | v(0) = detection.bottom.x; |
| 63 | v(1) = detection.bottom.y; |
| 64 | v(2) = detection.bottom.z; |
| 65 | world_bottom_ = source->transform(v); |
| 66 | } |
| 67 | |
| 68 | Detection::~Detection() |
| 69 | { |