Mirror model interface.
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#include <>>
List of all members.
Public Member Functions |
| virtual | ~MirrorModel () |
| | Virtual empty destructor.
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| 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.
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| 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.
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| virtual const char * | getName ()=0 |
| | Get name of model.
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| virtual fawkes::polar_coord_2d_t | getWorldPointRelative (unsigned int image_x, unsigned int image_y) const =0 |
| | Get relative coordinate based on image coordinates.
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| 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.
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| virtual void | reset ()=0 |
| | Reset model.
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| virtual fawkes::point_t | getCenter () const =0 |
| | Get the image pixel that is the center of the omni-camera.
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| virtual void | setCenter (unsigned int image_x, unsigned int image_y)=0 |
| | Set center of omni-camera to given image pixel.
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| virtual void | setOrientation (float angle)=0 |
| | Set orientation of the omni-camera device.
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| virtual float | getOrientation () const =0 |
| | Get orientation of the omni-camera.
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| virtual bool | isValidPoint (unsigned int image_x, unsigned int image_y) const =0 |
| | Check if the given point is valid.
|
Detailed Description
Mirror model interface.
This interface defines the API for a mirror model.
Definition at line 34 of file mirrormodel.h.
Constructor & Destructor Documentation
| firevision::MirrorModel::~MirrorModel |
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| ) |
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virtual |
Member Function Documentation
| cart_coord_t firevision::MirrorModel::getCenter |
( |
| ) |
const |
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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.
| const char * firevision::MirrorModel::getName |
( |
| ) |
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pure virtual |
| float firevision::MirrorModel::getOrientation |
( |
| ) |
const |
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pure virtual |
Get orientation of the omni-camera.
- Returns:
- angle to forward direction.
Implemented in firevision::Bulb.
| f_point_t firevision::MirrorModel::getWorldPointGlobal |
( |
unsigned int |
image_x, |
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unsigned int |
image_y, |
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float |
pose_x, |
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float |
pose_y, |
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float |
pose_ori |
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) |
| const |
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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.
| polar_coord_t firevision::MirrorModel::getWorldPointRelative |
( |
unsigned int |
image_x, |
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unsigned int |
image_y |
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) |
| const |
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pure virtual |
Get relative coordinate based on image coordinates.
- Parameters:
-
| image_x | x coordinate in image in pixels |
| image_y | y coordinate in image in pixels |
- Returns:
- polar coordinates relative to the base system in metric local system
Implemented in firevision::Bulb.
| bool firevision::MirrorModel::isValidPoint |
( |
unsigned int |
image_x, |
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unsigned int |
image_y |
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) |
| const |
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pure virtual |
Check if the given point is valid.
- Parameters:
-
| image_x | x coordinate of queried pixel in image |
| image_y | y coordinate of queried pixel in image |
- Returns:
- true, if pixel is valid, false otherwise.
Implemented in firevision::Bulb.
| void firevision::MirrorModel::reset |
( |
| ) |
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pure virtual |
| void firevision::MirrorModel::setCenter |
( |
unsigned int |
image_x, |
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unsigned int |
image_y |
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) |
| |
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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.
| void firevision::MirrorModel::setOrientation |
( |
float |
angle | ) |
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pure virtual |
Set orientation of the omni-camera device.
- Parameters:
-
| angle | angle to the forward direction. |
Implemented in firevision::Bulb.
| void firevision::MirrorModel::unwarp2warp |
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unsigned int |
unwarp_x, |
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unsigned int |
unwarp_y, |
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unsigned int * |
warp_x, |
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unsigned int * |
warp_y |
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) |
| |
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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().
| void firevision::MirrorModel::warp2unwarp |
( |
unsigned int |
warp_x, |
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unsigned int |
warp_y, |
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unsigned int * |
unwarp_x, |
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unsigned int * |
unwarp_y |
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) |
| |
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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:
1.8.1.1 
