Fawkes API
Fawkes Development Version
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Relative (beer) box position model. More...
#include <>>
Public Member Functions | |
BoxRelative (unsigned int image_width, unsigned int image_height, float camera_height, float camera_offset_x, float camera_offset_y, float camera_ori, float horizontal_angle, float vertical_angle) | |
Constructor. More... | |
virtual const char * | get_name () const |
Get name of relative position model. More... | |
virtual void | set_center (float x, float y) |
Set center of a found circle. More... | |
virtual void | set_center (const center_in_roi_t &c) |
Set center of a found circle. More... | |
virtual void | set_radius (float r) |
Set radius of a found circle. More... | |
virtual void | set_pan_tilt (float pan=0.0f, float tilt=0.0f) |
Set camera pan and tilt. More... | |
virtual void | get_pan_tilt (float *pan, float *tilt) const |
Get camera pan tilt. More... | |
virtual void | set_horizontal_angle (float angle_deg) |
Set the horizontal viewing angle. More... | |
virtual void | set_vertical_angle (float angle_deg) |
Set the vertical viewing angle. More... | |
virtual float | get_distance () const |
Get distance to object. More... | |
virtual float | get_x () const |
Get relative X coordinate of object. More... | |
virtual float | get_y () const |
Get relative Y coordinate of object. More... | |
virtual float | get_bearing () const |
Get bearing (horizontal angle) to object. More... | |
virtual float | get_slope () const |
Get slope (vertical angle) to object. More... | |
virtual void | calc () |
Calculate position data. More... | |
virtual void | calc_unfiltered () |
Calculate data unfiltered. More... | |
virtual void | reset () |
Reset all data. More... | |
virtual bool | is_pos_valid () const |
Check if position is valid. More... | |
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virtual | ~RelativePositionModel () |
Destructor. More... | |
virtual void | set_cam_rotation (float pan, float tilt, float roll=0.f) |
Sets the camera orientation. More... | |
virtual void | get_cam_rotation (float &pan, float &tilt, float &roll) const |
Returns the camera orientation. More... | |
virtual void | set_cam_translation (float height, float rel_x=0.f, float rel_y=0.f) |
Sets the current translation of the camera. More... | |
virtual void | get_cam_translation (float &height, float &rel_x, float &rel_y) const |
Returns the current translation of the camera. More... | |
Relative (beer) box position model.
Model used in Bremen to get world champions :-)
Definition at line 37 of file box_relative.h.
firevision::BoxRelative::BoxRelative | ( | unsigned int | image_width, |
unsigned int | image_height, | ||
float | camera_height, | ||
float | camera_offset_x, | ||
float | camera_offset_y, | ||
float | camera_ori, | ||
float | horizontal_angle, | ||
float | vertical_angle | ||
) |
Constructor.
image_width | width of image in pixels |
image_height | height of image in pixels |
camera_height | height of camera in meters |
camera_offset_x | camera offset of the motor axis in x direction |
camera_offset_y | camera offset of the motor axis in y direction |
camera_ori | camera orientation compared to the robot |
horizontal_angle | horizontal viewing angle (in degree) |
vertical_angle | vertical viewing angle (in degree) |
Definition at line 55 of file box_relative.cpp.
References fawkes::deg2rad().
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Calculate position data.
Call this method if all relevant data (set(Radius|Center|PanTilt)) has been set, after this valid data can be retrieved via get*
Implements firevision::RelativePositionModel.
Definition at line 226 of file box_relative.cpp.
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Calculate data unfiltered.
Same as calc(), but without any filtering (i.e. no Kalman filter).
Implements firevision::RelativePositionModel.
Definition at line 259 of file box_relative.cpp.
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Get bearing (horizontal angle) to object.
Implements firevision::RelativePositionModel.
Definition at line 119 of file box_relative.cpp.
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Get distance to object.
Implements firevision::RelativePositionModel.
Definition at line 112 of file box_relative.cpp.
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Get name of relative position model.
Implements firevision::RelativePositionModel.
Definition at line 192 of file box_relative.cpp.
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Get camera pan tilt.
pan | contains pan value (rad) upon return |
tilt | contains tilt value (rad) upon return |
Implements firevision::RelativePositionModel.
Definition at line 184 of file box_relative.cpp.
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Get slope (vertical angle) to object.
Implements firevision::RelativePositionModel.
Definition at line 126 of file box_relative.cpp.
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Get relative X coordinate of object.
Implements firevision::RelativePositionModel.
Definition at line 148 of file box_relative.cpp.
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Get relative Y coordinate of object.
Implements firevision::RelativePositionModel.
Definition at line 137 of file box_relative.cpp.
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Check if position is valid.
Implements firevision::RelativePositionModel.
Definition at line 252 of file box_relative.cpp.
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Reset all data.
This must be called if the object is not visible.
Implements firevision::RelativePositionModel.
Definition at line 219 of file box_relative.cpp.
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Set center of a found circle.
This is especially used for ball position implementations.
x | x position in image (pixels) |
y | y position in image (pixels) |
Implements firevision::RelativePositionModel.
Definition at line 160 of file box_relative.cpp.
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Set center of a found circle.
This is especially used for ball position implementations.
c | center |
Implements firevision::RelativePositionModel.
Definition at line 168 of file box_relative.cpp.
References firevision::center_in_roi_t::x, and firevision::center_in_roi_t::y.
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Set the horizontal viewing angle.
angle_deg | horizontal viewing angle in degrees |
Definition at line 202 of file box_relative.cpp.
References fawkes::deg2rad().
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Set camera pan and tilt.
pan | pan value (rad) |
tilt | tilt value (rad) |
Implements firevision::RelativePositionModel.
Definition at line 176 of file box_relative.cpp.
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Set radius of a found circle.
This is especially used for ball position implementations.
r | radius |
Implements firevision::RelativePositionModel.
Definition at line 154 of file box_relative.cpp.
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Set the vertical viewing angle.
angle_deg | vertical viewing angle in degrees |
Definition at line 212 of file box_relative.cpp.
References fawkes::deg2rad().