23 #ifndef __FIREVISION_PIXELFROMPOSITION_H_ 24 #define __FIREVISION_PIXELFROMPOSITION_H_ 26 #include <tf/transformer.h> 27 #include <utils/math/types.h> 37 float cam_aperture_x,
float cam_aperture_y,
38 unsigned int cam_width_x,
unsigned int cam_height_y,
float cam_angle_y = 0 );
44 std::string cam_frame_;
47 float cam_aperture_horizontal_;
48 float cam_aperture_vertical_;
50 unsigned int cam_resolution_x_;
51 unsigned int cam_resolution_y_;
53 float cam_pixel_per_angle_horizontal_;
54 float cam_pixel_per_angle_vertical_;
56 float cam_angle_max_horizontal_;
57 float cam_angle_min_horizontal_;
58 float cam_angle_max_vertical_;
59 float cam_angle_min_vertical_;
fawkes::point_t get_pixel_position_unchecked(fawkes::cart_coord_3d_t &position, std::string &frame, const fawkes::Time &time)
A class for handling time.
Compute a pixel position in the camera image from a cartesian world coordinate.
Point with cartesian coordinates as unsigned integers.
Cartesian coordinates (3D).
Point with cartesian coordinates as signed integers.
fawkes::upoint_t get_pixel_position(fawkes::cart_coord_3d_t &position, std::string &frame, const fawkes::Time &time)
PositionToPixel(fawkes::tf::Transformer *tf, std::string cam_frame, float cam_aperture_x, float cam_aperture_y, unsigned int cam_width_x, unsigned int cam_height_y, float cam_angle_y=0)
Construct a PositionToPixel model with the required camera geometry.