25#ifndef _FIREVISION_MODELS_RELPOS_BOX_H_
26#define _FIREVISION_MODELS_RELPOS_BOX_H_
28#include <fvmodels/relative_position/relativepositionmodel.h>
38 unsigned int image_height,
40 float camera_offset_x,
41 float camera_offset_y,
43 float horizontal_angle,
44 float vertical_angle);
46 virtual const char *
get_name()
const;
51 virtual void set_pan_tilt(
float pan = 0.0f,
float tilt = 0.0f);
52 virtual void get_pan_tilt(
float *pan,
float *tilt)
const;
59 virtual float get_x()
const;
60 virtual float get_y()
const;
72 float DEFAULT_X_VARIANCE;
73 float DEFAULT_Y_VARIANCE;
75 float pan_rad_per_pixel;
76 float tilt_rad_per_pixel;
82 float horizontal_angle;
85 unsigned int image_width;
86 unsigned int image_height;
89 float camera_offset_x;
90 float camera_offset_y;
91 float camera_orientation;
98 float distance_box_motor;
99 float distance_box_cam;
Relative (beer) box position model.
virtual float get_y() const
Get relative Y coordinate of object.
virtual void set_center(float x, float y)
Set center of a found circle.
virtual void set_horizontal_angle(float angle_deg)
Set the horizontal viewing angle.
virtual const char * get_name() const
Get name of relative position model.
virtual void set_radius(float r)
Set radius of a found circle.
virtual void calc()
Calculate position data.
virtual bool is_pos_valid() const
Check if position is valid.
virtual void reset()
Reset all data.
virtual void set_vertical_angle(float angle_deg)
Set the vertical viewing angle.
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 float get_x() const
Get relative X coordinate of object.
virtual float get_distance() const
Get distance to object.
virtual float get_slope() const
Get slope (vertical angle) to object.
virtual void calc_unfiltered()
Calculate data unfiltered.
virtual void set_pan_tilt(float pan=0.0f, float tilt=0.0f)
Set camera pan and tilt.
virtual float get_bearing() const
Get bearing (horizontal angle) to object.
virtual void get_pan_tilt(float *pan, float *tilt) const
Get camera pan tilt.
Relative Position Model Interface.