Relative (beer) box position model. More...
#include <>>
Public Member Functions | |
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 const char * | get_name () const |
Get name of relative position model. | |
virtual void | set_center (float x, float y) |
Set center of a found circle. | |
virtual void | set_center (const center_in_roi_t &c) |
Set center of a found circle. | |
virtual void | set_radius (float r) |
Set radius of a found circle. | |
virtual void | set_pan_tilt (float pan=0.0f, float tilt=0.0f) |
Set camera pan and tilt. | |
virtual void | get_pan_tilt (float *pan, float *tilt) const |
Get camera pan tilt. | |
virtual void | set_horizontal_angle (float angle_deg) |
Set the horizontal viewing angle. | |
virtual void | set_vertical_angle (float angle_deg) |
Set the vertical viewing angle. | |
virtual float | get_distance () const |
Get distance to object. | |
virtual float | get_x () const |
Get relative X coordinate of object. | |
virtual float | get_y () const |
Get relative Y coordinate of object. | |
virtual float | get_bearing () const |
Get bearing (horizontal angle) to object. | |
virtual float | get_slope () const |
Get slope (vertical angle) to object. | |
virtual void | calc () |
Calculate position data. | |
virtual void | calc_unfiltered () |
Calculate data unfiltered. | |
virtual void | reset () |
Reset all data. | |
virtual bool | is_pos_valid () const |
Check if position is valid. |
Relative (beer) box position model.
Model used in Bremen to get world champions :-)
Definition at line 37 of file box_relative.h.
firevision::BoxRelative::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.
image_width | width of image in pixels | |
image_height | height of image in pixels | |
camera_height | height of camera in meters | |
camera_offset_x | camera offset of the motor axis in x direction | |
camera_offset_y | camera offset of the motor axis in y direction | |
camera_ori | camera orientation compared to the robot | |
horizontal_angle | horizontal viewing angle (in degree) | |
vertical_angle | vertical viewing angle (in degree) |
Definition at line 55 of file box_relative.cpp.
References fawkes::deg2rad(), firevision::center_in_roi_t::x, and firevision::center_in_roi_t::y.
void firevision::BoxRelative::calc | ( | ) | [virtual] |
Calculate position data.
Call this method if all relevant data (set(Radius|Center|PanTilt)) has been set, after this valid data can be retrieved via get*
Implements firevision::RelativePositionModel.
Definition at line 226 of file box_relative.cpp.
References calc_unfiltered().
void firevision::BoxRelative::calc_unfiltered | ( | ) | [virtual] |
Calculate data unfiltered.
Same as calc(), but without any filtering (i.e. no Kalman filter).
Implements firevision::RelativePositionModel.
Definition at line 259 of file box_relative.cpp.
References firevision::center_in_roi_t::x, and firevision::center_in_roi_t::y.
Referenced by calc().
float firevision::BoxRelative::get_bearing | ( | void | ) | const [virtual] |
Get bearing (horizontal angle) to object.
Implements firevision::RelativePositionModel.
Definition at line 119 of file box_relative.cpp.
float firevision::BoxRelative::get_distance | ( | ) | const [virtual] |
Get distance to object.
Implements firevision::RelativePositionModel.
Definition at line 112 of file box_relative.cpp.
const char * firevision::BoxRelative::get_name | ( | void | ) | const [virtual] |
Get name of relative position model.
Implements firevision::RelativePositionModel.
Definition at line 192 of file box_relative.cpp.
void firevision::BoxRelative::get_pan_tilt | ( | float * | pan, | |
float * | tilt | |||
) | const [virtual] |
Get camera pan tilt.
pan | contains pan value (rad) upon return | |
tilt | contains tilt value (rad) upon return |
Implements firevision::RelativePositionModel.
Definition at line 184 of file box_relative.cpp.
float firevision::BoxRelative::get_slope | ( | ) | const [virtual] |
Get slope (vertical angle) to object.
Implements firevision::RelativePositionModel.
Definition at line 126 of file box_relative.cpp.
float firevision::BoxRelative::get_x | ( | void | ) | const [virtual] |
Get relative X coordinate of object.
Implements firevision::RelativePositionModel.
Definition at line 148 of file box_relative.cpp.
float firevision::BoxRelative::get_y | ( | void | ) | const [virtual] |
Get relative Y coordinate of object.
Implements firevision::RelativePositionModel.
Definition at line 137 of file box_relative.cpp.
bool firevision::BoxRelative::is_pos_valid | ( | ) | const [virtual] |
Check if position is valid.
Implements firevision::RelativePositionModel.
Definition at line 252 of file box_relative.cpp.
void firevision::BoxRelative::reset | ( | ) | [virtual] |
Reset all data.
This must be called if the object is not visible.
Implements firevision::RelativePositionModel.
Definition at line 219 of file box_relative.cpp.
void firevision::BoxRelative::set_center | ( | float | x, | |
float | y | |||
) | [virtual] |
Set center of a found circle.
This is especially used for ball position implementations.
x | x position in image (pixels) | |
y | y position in image (pixels) |
Implements firevision::RelativePositionModel.
Definition at line 160 of file box_relative.cpp.
References firevision::center_in_roi_t::x, and firevision::center_in_roi_t::y.
void firevision::BoxRelative::set_center | ( | const center_in_roi_t & | c | ) | [virtual] |
Set center of a found circle.
This is especially used for ball position implementations.
c | center |
Implements firevision::RelativePositionModel.
Definition at line 168 of file box_relative.cpp.
References firevision::center_in_roi_t::x, and firevision::center_in_roi_t::y.
void firevision::BoxRelative::set_horizontal_angle | ( | float | angle_deg | ) | [virtual] |
Set the horizontal viewing angle.
angle_deg | horizontal viewing angle in degrees |
Definition at line 202 of file box_relative.cpp.
References fawkes::deg2rad().
void firevision::BoxRelative::set_pan_tilt | ( | float | pan = 0.0f , |
|
float | tilt = 0.0f | |||
) | [virtual] |
Set camera pan and tilt.
pan | pan value (rad) | |
tilt | tilt value (rad) |
Implements firevision::RelativePositionModel.
Definition at line 176 of file box_relative.cpp.
void firevision::BoxRelative::set_radius | ( | float | r | ) | [virtual] |
Set radius of a found circle.
This is especially used for ball position implementations.
r | radius |
Implements firevision::RelativePositionModel.
Definition at line 154 of file box_relative.cpp.
void firevision::BoxRelative::set_vertical_angle | ( | float | angle_deg | ) | [virtual] |
Set the vertical viewing angle.
angle_deg | vertical viewing angle in degrees |
Definition at line 212 of file box_relative.cpp.
References fawkes::deg2rad().