Mirror model interface.
More...
#include <>>
|
virtual | ~MirrorModel () |
| Virtual empty destructor. More...
|
|
virtual void | warp2unwarp (unsigned int warp_x, unsigned int warp_y, unsigned int *unwarp_x, unsigned int *unwarp_y)=0 |
| Transform warped to unwarped point. More...
|
|
virtual void | unwarp2warp (unsigned int unwarp_x, unsigned int unwarp_y, unsigned int *warp_x, unsigned int *warp_y)=0 |
| Transform unwarped to warped point. More...
|
|
virtual const char * | getName ()=0 |
| Get name of model. More...
|
|
virtual fawkes::polar_coord_2d_t | getWorldPointRelative (unsigned int image_x, unsigned int image_y) const =0 |
| Get relative coordinate based on image coordinates. More...
|
|
virtual fawkes::cart_coord_2d_t | getWorldPointGlobal (unsigned int image_x, unsigned int image_y, float pose_x, float pose_y, float pose_ori) const =0 |
| Get global coordinate based on image coordinates. More...
|
|
virtual void | reset ()=0 |
| Reset model. More...
|
|
virtual fawkes::upoint_t | getCenter () const =0 |
| Get the image pixel that is the center of the omni-camera. More...
|
|
virtual void | setCenter (unsigned int image_x, unsigned int image_y)=0 |
| Set center of omni-camera to given image pixel. More...
|
|
virtual void | setOrientation (float angle)=0 |
| Set orientation of the omni-camera device. More...
|
|
virtual float | getOrientation () const =0 |
| Get orientation of the omni-camera. More...
|
|
virtual bool | isValidPoint (unsigned int image_x, unsigned int image_y) const =0 |
| Check if the given point is valid. More...
|
|
Mirror model interface.
This interface defines the API for a mirror model.
Definition at line 34 of file mirrormodel.h.
◆ ~MirrorModel()
firevision::MirrorModel::~MirrorModel |
( |
| ) |
|
|
virtual |
◆ getCenter()
cart_coord_t firevision::MirrorModel::getCenter |
( |
| ) |
const |
|
pure virtual |
Get the image pixel that is the center of the omni-camera.
- Returns
- pixel coordinates of mirror center in image.
Implemented in firevision::Bulb.
◆ getName()
const char * firevision::MirrorModel::getName |
( |
| ) |
|
|
pure virtual |
◆ getOrientation()
float firevision::MirrorModel::getOrientation |
( |
| ) |
const |
|
pure virtual |
Get orientation of the omni-camera.
- Returns
- angle to forward direction.
Implemented in firevision::Bulb.
◆ getWorldPointGlobal()
f_point_t firevision::MirrorModel::getWorldPointGlobal |
( |
unsigned int |
image_x, |
|
|
unsigned int |
image_y, |
|
|
float |
pose_x, |
|
|
float |
pose_y, |
|
|
float |
pose_ori |
|
) |
| const |
|
pure virtual |
Get global coordinate based on image coordinates.
- Parameters
-
image_x | x coordinate in image in pixels |
image_y | y coordinate in image in pixels |
pose_x | robot pose global x coordinate |
pose_y | robot pose global y coordinate |
pose_ori | robot pose global orientation |
- Returns
- cartesian coordinates relative to the base system in metric global system
Implemented in firevision::Bulb.
Referenced by firevision::OmniGlobal::calc().
◆ getWorldPointRelative()
polar_coord_t firevision::MirrorModel::getWorldPointRelative |
( |
unsigned int |
image_x, |
|
|
unsigned int |
image_y |
|
) |
| const |
|
pure virtual |
◆ isValidPoint()
bool firevision::MirrorModel::isValidPoint |
( |
unsigned int |
image_x, |
|
|
unsigned int |
image_y |
|
) |
| const |
|
pure virtual |
◆ reset()
void firevision::MirrorModel::reset |
( |
| ) |
|
|
pure virtual |
◆ setCenter()
void firevision::MirrorModel::setCenter |
( |
unsigned int |
image_x, |
|
|
unsigned int |
image_y |
|
) |
| |
|
pure virtual |
Set center of omni-camera to given image pixel.
- Parameters
-
image_x | x coordinate in image in pixels |
image_y | y coordinate in image in pixels |
Implemented in firevision::Bulb.
◆ setOrientation()
void firevision::MirrorModel::setOrientation |
( |
float |
angle | ) |
|
|
pure virtual |
Set orientation of the omni-camera device.
- Parameters
-
angle | angle to the forward direction. |
Implemented in firevision::Bulb.
◆ unwarp2warp()
void firevision::MirrorModel::unwarp2warp |
( |
unsigned int |
unwarp_x, |
|
|
unsigned int |
unwarp_y, |
|
|
unsigned int * |
warp_x, |
|
|
unsigned int * |
warp_y |
|
) |
| |
|
pure virtual |
Transform unwarped to warped point.
Given a point in the unwarped image it returns the coordinates of the corresponding pixel in the warped image Useful for: You want to generate the unwarped image and ask the model for every point of the unwarped image which warped pixel to copy
- Parameters
-
unwarp_x | unwarped x coordinate |
unwarp_y | unwarped y coordinate |
warp_x | contains the warped x coordinate upon return |
warp_y | contains the warped y coordinate upon return |
Implemented in firevision::Bulb.
Referenced by firevision::FilterUnwarp::apply().
◆ warp2unwarp()
void firevision::MirrorModel::warp2unwarp |
( |
unsigned int |
warp_x, |
|
|
unsigned int |
warp_y, |
|
|
unsigned int * |
unwarp_x, |
|
|
unsigned int * |
unwarp_y |
|
) |
| |
|
pure virtual |
Transform warped to unwarped point.
Given a point in the warped image it returns the coordinates of the corresponding pixel in the unwarped image Useful for: You found the ball center in the image and want to get the position this pixel would have in an unwarped image
- Parameters
-
warp_x | warped x coordinate |
warp_y | warped y coordinate |
unwarp_x | contains unwarped x coordinate upon return |
unwarp_y | contains unwarped y coordinate upon return |
Implemented in firevision::Bulb.
The documentation for this class was generated from the following files: