Fawkes API
Fawkes Development Version
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00001 00002 /*************************************************************************** 00003 * cornerhorizon.h - Scanline model "shrinker", takes the corner in front 00004 * of the robots and calculates a "fake horizon" from this 00005 * and only returns the scanline points which are below 00006 * that very horizon 00007 * 00008 * Created: Fri Apr 07 04:34:08 2006 00009 * Copyright 2005-2006 Tim Niemueller [www.niemueller.de] 00010 * 2006 Stefan Schiffer 00011 * 2006 Christoph Mies 00012 * 00013 ****************************************************************************/ 00014 00015 /* This program is free software; you can redistribute it and/or modify 00016 * it under the terms of the GNU General Public License as published by 00017 * the Free Software Foundation; either version 2 of the License, or 00018 * (at your option) any later version. A runtime exception applies to 00019 * this software (see LICENSE.GPL_WRE file mentioned below for details). 00020 * 00021 * This program is distributed in the hope that it will be useful, 00022 * but WITHOUT ANY WARRANTY; without even the implied warranty of 00023 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00024 * GNU Library General Public License for more details. 00025 * 00026 * Read the full text in the LICENSE.GPL_WRE file in the doc directory. 00027 */ 00028 00029 #ifndef __FIREVISION_MODELS_SCANLINE_CORNERHORIZON_H_ 00030 #define __FIREVISION_MODELS_SCANLINE_CORNERHORIZON_H_ 00031 00032 #include <fvmodels/scanlines/scanlinemodel.h> 00033 #include <fvutils/base/types.h> 00034 00035 namespace firevision { 00036 #if 0 /* just to make Emacs auto-indent happy */ 00037 } 00038 #endif 00039 00040 class CornerHorizon : public ScanlineModel 00041 { 00042 00043 public: 00044 00045 CornerHorizon( ScanlineModel *model, 00046 float field_length, float field_width, float field_border, 00047 unsigned int image_width, unsigned int image_height, 00048 float camera_height, float camera_ori, 00049 float horizontal_angle, float vertical_angle 00050 ); 00051 00052 virtual ~CornerHorizon(); 00053 00054 fawkes::point_t operator*(); 00055 fawkes::point_t * operator->(); 00056 fawkes::point_t * operator++(); 00057 fawkes::point_t * operator++(int); 00058 00059 bool finished(); 00060 void reset(); 00061 const char * get_name(); 00062 unsigned int get_margin(); 00063 00064 void set_robot_pose(float x, float y, float ori); 00065 void set_pan_tilt(float pan, float tilt); 00066 00067 unsigned int getHorizon(); 00068 00069 protected: 00070 void calculate(); 00071 00072 private: 00073 ScanlineModel *model; 00074 00075 bool calculated; 00076 00077 float field_length; 00078 float field_width; 00079 float field_border; 00080 00081 float pose_x; 00082 float pose_y; 00083 float pose_ori; 00084 00085 float pan; 00086 float tilt; 00087 00088 unsigned int image_width; 00089 unsigned int image_height; 00090 00091 float camera_height; 00092 float camera_ori; 00093 00094 float horizontal_angle; 00095 float vertical_angle; 00096 00097 float pan_pixel_per_rad; 00098 float tilt_pixel_per_rad; 00099 00100 fawkes::point_t coord; 00101 fawkes::point_t tmp_coord; 00102 00103 unsigned int horizon; 00104 00105 static const float M_PI_HALF; 00106 00107 }; 00108 00109 } // end namespace firevision 00110 00111 #endif