Fawkes API
Fawkes Development Version
mirrormodel.cpp
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/***************************************************************************
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* mirrormodel.cpp - Abstract class defining a mirror model
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*
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* Created: Wed Mar 21 16:32:32 2007
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* Copyright 2005-2007 Tim Niemueller [www.niemueller.de]
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*
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****************************************************************************/
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/* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2 of the License, or
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* (at your option) any later version. A runtime exception applies to
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* this software (see LICENSE.GPL_WRE file mentioned below for details).
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU Library General Public License for more details.
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*
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* Read the full text in the LICENSE.GPL_WRE file in the doc directory.
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*/
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#include <fvmodels/mirror/mirrormodel.h>
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namespace
firevision {
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/** @class MirrorModel <fvmodels/mirror/mirrormodel.h>
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* Mirror model interface.
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* This interface defines the API for a mirror model.
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*
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* @fn void MirrorModel::warp2unwarp(unsigned int warp_x, unsigned int warp_y, unsigned int *unwarp_x, unsigned int *unwarp_y)
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* Transform warped to unwarped point.
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* Given a point in the warped image it returns the coordinates of
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* the corresponding pixel in the unwarped image
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* Useful for: You found the ball center in the image and want to get
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* the position this pixel would have in an unwarped image
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* @param warp_x warped x coordinate
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* @param warp_y warped y coordinate
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* @param unwarp_x contains unwarped x coordinate upon return
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* @param unwarp_y contains unwarped y coordinate upon return
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*
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* @fn void MirrorModel::unwarp2warp(unsigned int unwarp_x, unsigned int unwarp_y, unsigned int *warp_x, unsigned int *warp_y)
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* Transform unwarped to warped point.
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* Given a point in the unwarped image it returns the coordinates of
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* the corresponding pixel in the warped image
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* Useful for: You want to generate the unwarped image and ask the model
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* for every point of the unwarped image which warped pixel to copy
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* @param unwarp_x unwarped x coordinate
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* @param unwarp_y unwarped y coordinate
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* @param warp_x contains the warped x coordinate upon return
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* @param warp_y contains the warped y coordinate upon return
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*
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* @fn const char * MirrorModel::getName()
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* Get name of model.
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* @return name of model
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*
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* @fn polar_coord_t MirrorModel::getWorldPointRelative(unsigned int image_x, unsigned int image_y ) const
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* Get relative coordinate based on image coordinates.
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* @param image_x x coordinate in image in pixels
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* @param image_y y coordinate in image in pixels
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* @return polar coordinates relative to the base system in metric local system
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*
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* @fn f_point_t MirrorModel::getWorldPointGlobal(unsigned int image_x, unsigned int image_y, float pose_x, float pose_y, float pose_ori) const
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* Get global coordinate based on image coordinates.
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* @param image_x x coordinate in image in pixels
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* @param image_y y coordinate in image in pixels
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* @param pose_x robot pose global x coordinate
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* @param pose_y robot pose global y coordinate
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* @param pose_ori robot pose global orientation
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* @return cartesian coordinates relative to the base system in metric global system
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*
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* @fn void MirrorModel::reset()
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* Reset model. This will reset mirror model.
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*
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* @fn cart_coord_t MirrorModel::getCenter() const
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* Get the image pixel that is the center of the omni-camera.
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* @return pixel coordinates of mirror center in image.
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*
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* @fn void MirrorModel::setCenter(unsigned int image_x, unsigned int image_y)
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* Set center of omni-camera to given image pixel
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* @param image_x x coordinate in image in pixels
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* @param image_y y coordinate in image in pixels
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*
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* @fn void MirrorModel::setOrientation(float angle)
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* Set orientation of the omni-camera device.
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* @param angle angle to the forward direction.
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*
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* @fn float MirrorModel::getOrientation() const
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* Get orientation of the omni-camera.
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* @return angle to forward direction.
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*
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* @fn bool MirrorModel::isValidPoint(unsigned int image_x, unsigned int image_y ) const
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* Check if the given point is valid.
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* @param image_x x coordinate of queried pixel in image
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* @param image_y y coordinate of queried pixel in image
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* @return true, if pixel is valid, false otherwise.
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*/
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/** Virtual empty destructor. */
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MirrorModel::~MirrorModel
()
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{
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}
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}
// end namespace firevision
firevision::MirrorModel::~MirrorModel
virtual ~MirrorModel()
Virtual empty destructor.
Definition:
mirrormodel.cpp:101
src
libs
fvmodels
mirror
mirrormodel.cpp
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