modularization/src/fusion/lidar_radar_fusion_cnn_ukf/transformation.h

#ifndef TRANSFORMATION_H
#define TRANSFORMATION_H
#include "eigen3/Eigen/Dense"
//#include "objectarray.pb.h"
#include "radarobjectarray.pb.h"
#include "fusionobjectarray.pb.h"
#include <opencv2/opencv.hpp>
struct Point{
    double x;
    double y;
    double z;
    double i;   //强度信息
    double r;
    double g;
    double b;
};

struct Vel_Struct{
    double vx;
    double vy;
};

struct match_index
{
    int nlidar;
    int nradar;
};

namespace iv {
namespace fusion {


class Transformation{
public:
    Transformation(){};
    ~Transformation(){};

    static Point RadarToCamera(Point radarInfo);

//    static Point CameraToWorld(Point CameraInfo);

    static void RadarPross(iv::radar::radarobjectarray& radar_object);

    static float ComputelonDistance(double x, double y);

    static float ComputeRadarSpeed(double vx, double vy);

    static Vel_Struct lidarVelTra(float yaw, float LineVel);

    static Eigen::Matrix<float,3,1> RadarToLidar(Eigen::Matrix<float,3,1> radar_in_radar);
    static Eigen::Matrix<float,3,1> LidarToRadar(Eigen::Matrix<float,3,1> lidar_in_lidar);



    };
}
}
#endif // TRANSFORMATION_H