24 #ifndef __FIREVISION_MODELS_RELATIVE_POSITION_BALL_TRIGO_H_ 25 #define __FIREVISION_MODELS_RELATIVE_POSITION_BALL_TRIGO_H_ 27 #include <fvmodels/relative_position/relativepositionmodel.h> 38 unsigned int image_height,
40 float camera_offset_x,
41 float camera_offset_y,
42 float camera_base_pan,
43 float camera_base_tilt,
44 float horizontal_angle,
46 float ball_circumference);
48 virtual const char *
get_name()
const;
53 virtual void set_pan_tilt(
float pan = 0.0f,
float tilt = 0.0f);
54 virtual void get_pan_tilt(
float *pan,
float *tilt)
const;
57 virtual float get_x()
const;
58 virtual float get_y()
const;
73 float __horizontal_angle;
74 float __vertical_angle;
75 float __pan_rad_per_pixel;
76 float __tilt_rad_per_pixel;
78 unsigned int __image_width;
79 unsigned int __image_width_2;
80 unsigned int __image_height;
81 unsigned int __image_height_2;
83 float __camera_height;
84 float __camera_offset_x;
85 float __camera_offset_y;
86 float __camera_base_pan;
87 float __camera_base_tilt;
89 float __ball_circumference;
virtual const char * get_name() const
Get name of relative position model.
virtual bool is_pos_valid() const
Check if position is valid.
virtual void reset()
Reset all data.
virtual void calc_unfiltered()
Calculate data unfiltered.
virtual void set_radius(float r)
Set radius of a found circle.
virtual void calc()
Calculate position data.
virtual float get_x() const
Get relative X coordinate of object.
virtual void get_pan_tilt(float *pan, float *tilt) const
Get camera pan tilt.
virtual void set_center(float x, float y)
Set center of a found circle.
Relative Position Model Interface.
virtual float get_bearing() const
Get bearing (horizontal angle) to object.
virtual void set_pan_tilt(float pan=0.0f, float tilt=0.0f)
Set camera pan and tilt.
virtual float get_distance() const
Get distance to object.
Relative ball position model for pan/tilt camera.
BallTrigoRelativePos(unsigned int image_width, unsigned int image_height, float camera_height, float camera_offset_x, float camera_offset_y, float camera_base_pan, float camera_base_tilt, float horizontal_angle, float vertical_angle, float ball_circumference)
Constructor.
virtual float get_slope() const
Get slope (vertical angle) to object.
virtual float get_y() const
Get relative Y coordinate of object.