23#ifndef _FIREVISION_PIXELFROMPOSITION_H_
24#define _FIREVISION_PIXELFROMPOSITION_H_
26#include <tf/transformer.h>
27#include <utils/math/types.h>
37 std::string cam_frame,
40 unsigned int cam_width_x,
41 unsigned int cam_height_y,
42 float cam_angle_y = 0);
52 std::string cam_frame_;
55 float cam_aperture_horizontal_;
56 float cam_aperture_vertical_;
58 unsigned int cam_resolution_x_;
59 unsigned int cam_resolution_y_;
61 float cam_pixel_per_angle_horizontal_;
62 float cam_pixel_per_angle_vertical_;
64 float cam_angle_max_horizontal_;
65 float cam_angle_min_horizontal_;
66 float cam_angle_max_vertical_;
67 float cam_angle_min_vertical_;
A class for handling time.
Compute a pixel position in the camera image from a cartesian world coordinate.
fawkes::point_t get_pixel_position_unchecked(fawkes::cart_coord_3d_t &position, std::string &frame, const fawkes::Time &time)
PositionToPixel(fawkes::tf::Transformer *tf, std::string cam_frame, float cam_aperture_x, float cam_aperture_y, unsigned int cam_width_x, unsigned int cam_height_y, float cam_angle_y=0)
Construct a PositionToPixel model with the required camera geometry.
fawkes::upoint_t get_pixel_position(fawkes::cart_coord_3d_t &position, std::string &frame, const fawkes::Time &time)
Cartesian coordinates (3D).
Point with cartesian coordinates as signed integers.
Point with cartesian coordinates as unsigned integers.