Fawkes API
Fawkes Development Version
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29 #ifndef _FIREVISION_MODELS_SCANLINE_CORNERHORIZON_H_
30 #define _FIREVISION_MODELS_SCANLINE_CORNERHORIZON_H_
32 #include <fvmodels/scanlines/scanlinemodel.h>
33 #include <fvutils/base/types.h>
35 namespace firevision {
44 unsigned int image_width,
45 unsigned int image_height,
48 float horizontal_angle,
49 float vertical_angle);
87 unsigned int image_width;
88 unsigned int image_height;
93 float horizontal_angle;
96 float pan_pixel_per_rad;
97 float tilt_pixel_per_rad;
102 unsigned int horizon;
104 static const float M_PI_HALF;
unsigned int getHorizon()
Get the horizon point.
fawkes::upoint_t * operator++()
Postfix ++ operator.
const char * get_name()
Get name of scanline model.
Cut of arbitrary scanline models at an artificial horizon.
Point with cartesian coordinates as unsigned integers.
bool finished()
Check if all desired points have been processed.
fawkes::upoint_t * operator->()
Get pointer to current point.
Scanline model interface.
void set_robot_pose(float x, float y, float ori)
Set the robot's pose.
virtual ~CornerHorizon()
Destructor.
CornerHorizon(ScanlineModel *model, float field_length, float field_width, float field_border, unsigned int image_width, unsigned int image_height, float camera_height, float camera_ori, float horizontal_angle, float vertical_angle)
Constructor.
unsigned int get_margin()
Get margin around points.
void calculate()
Calculate horizon point.
void set_pan_tilt(float pan, float tilt)
Set camera's pan/tilt values.
fawkes::upoint_t operator*()
Get the current coordinate.