25 #ifndef __FIREVISION_MODELS_RELPOS_BOX_H_ 26 #define __FIREVISION_MODELS_RELPOS_BOX_H_ 28 #include <fvmodels/relative_position/relativepositionmodel.h> 40 BoxRelative(
unsigned int image_width,
unsigned int image_height,
42 float camera_offset_x,
float camera_offset_y,
44 float horizontal_angle,
float vertical_angle
47 virtual const char *
get_name()
const;
52 virtual void set_pan_tilt(
float pan = 0.0f,
float tilt = 0.0f);
53 virtual void get_pan_tilt(
float *pan,
float *tilt)
const;
60 virtual float get_x()
const;
61 virtual float get_y()
const;
73 float DEFAULT_X_VARIANCE;
74 float DEFAULT_Y_VARIANCE;
76 float pan_rad_per_pixel;
77 float tilt_rad_per_pixel;
83 float horizontal_angle;
86 unsigned int image_width;
87 unsigned int image_height;
90 float camera_offset_x;
91 float camera_offset_y;
92 float camera_orientation;
99 float distance_box_motor;
100 float distance_box_cam;
115 #endif // __FIREVISION_MODELS_RELPOS_BOX_H_ virtual void set_center(float x, float y)
Set center of a found circle.
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 float get_slope() const
Get slope (vertical 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.
virtual void set_vertical_angle(float angle_deg)
Set the vertical viewing angle.
Relative Position Model Interface.
Relative (beer) box position model.
virtual float get_bearing() const
Get bearing (horizontal angle) to object.
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.
virtual void calc_unfiltered()
Calculate data unfiltered.
virtual void reset()
Reset all data.
virtual void set_horizontal_angle(float angle_deg)
Set the horizontal viewing angle.
virtual bool is_pos_valid() const
Check if position is valid.
virtual void set_radius(float r)
Set radius of a found circle.
virtual void calc()
Calculate position data.
virtual float get_y() const
Get relative Y coordinate of object.
virtual const char * get_name() const
Get name of relative position model.