29 #ifndef __FIREVISION_MODELS_SCANLINE_CORNERHORIZON_H_ 30 #define __FIREVISION_MODELS_SCANLINE_CORNERHORIZON_H_ 32 #include <fvmodels/scanlines/scanlinemodel.h> 33 #include <fvutils/base/types.h> 46 float field_length,
float field_width,
float field_border,
47 unsigned int image_width,
unsigned int image_height,
48 float camera_height,
float camera_ori,
49 float horizontal_angle,
float vertical_angle
88 unsigned int image_width;
89 unsigned int image_height;
94 float horizontal_angle;
97 float pan_pixel_per_rad;
98 float tilt_pixel_per_rad;
103 unsigned int horizon;
105 static const float M_PI_HALF;
Cut of arbitrary scanline models at an artificial horizon.
fawkes::upoint_t operator*()
Get the current coordinate.
void set_pan_tilt(float pan, float tilt)
Set camera's pan/tilt values.
Scanline model interface.
CornerHorizon(ScanlineModel *model, float field_length, float field_width, float field_border, unsigned int image_width, unsigned int image_height, float camera_height, float camera_ori, float horizontal_angle, float vertical_angle)
Constructor.
fawkes::upoint_t * operator++()
Postfix ++ operator.
unsigned int get_margin()
Get margin around points.
fawkes::upoint_t * operator->()
Get pointer to current point.
bool finished()
Check if all desired points have been processed.
Point with cartesian coordinates as unsigned integers.
virtual ~CornerHorizon()
Destructor.
unsigned int getHorizon()
Get the horizon point.
void calculate()
Calculate horizon point.
void set_robot_pose(float x, float y, float ori)
Set the robot's pose.
const char * get_name()
Get name of scanline model.