Fawkes API Fawkes Development Version
mirrormodel.h
1
2/***************************************************************************
3 * mirrormodel.h - Abstract class defining a mirror model
4 *
5 * Created: Tue Jul 19 11:55:29 2005
6 * Copyright 2005-2007 Tim Niemueller [www.niemueller.de]
7 *
8 ****************************************************************************/
9
10/* This program is free software; you can redistribute it and/or modify
11 * it under the terms of the GNU General Public License as published by
12 * the Free Software Foundation; either version 2 of the License, or
13 * (at your option) any later version. A runtime exception applies to
14 * this software (see LICENSE.GPL_WRE file mentioned below for details).
15 *
16 * This program is distributed in the hope that it will be useful,
17 * but WITHOUT ANY WARRANTY; without even the implied warranty of
18 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
19 * GNU Library General Public License for more details.
20 *
21 * Read the full text in the LICENSE.GPL_WRE file in the doc directory.
22 */
23
24#ifndef _FIREVISION_MODELS_MIRRORMODEL_H_
25#define _FIREVISION_MODELS_MIRRORMODEL_H_
26
27#include <utils/math/types.h>
28
29namespace firevision {
30
32{
33public:
34 virtual ~MirrorModel();
35
36 virtual void warp2unwarp(unsigned int warp_x,
37 unsigned int warp_y,
38 unsigned int *unwarp_x,
39 unsigned int *unwarp_y) = 0;
40
41 virtual void unwarp2warp(unsigned int unwarp_x,
42 unsigned int unwarp_y,
43 unsigned int *warp_x,
44 unsigned int *warp_y) = 0;
45
46 virtual const char *getName() = 0;
47
48 virtual fawkes::polar_coord_2d_t getWorldPointRelative(unsigned int image_x,
49 unsigned int image_y) const = 0;
50
51 virtual fawkes::cart_coord_2d_t getWorldPointGlobal(unsigned int image_x,
52 unsigned int image_y,
53 float pose_x,
54 float pose_y,
55 float pose_ori) const = 0;
56
57 virtual void reset() = 0;
58
59 virtual fawkes::upoint_t getCenter() const = 0;
60 virtual void setCenter(unsigned int image_x, unsigned int image_y) = 0;
61 virtual void setOrientation(float angle) = 0;
62 virtual float getOrientation() const = 0;
63
64 virtual bool isValidPoint(unsigned int image_x, unsigned int image_y) const = 0;
65};
66
67} // end namespace firevision
68
69#endif
Mirror model interface.
Definition: mirrormodel.h:32
virtual void setCenter(unsigned int image_x, unsigned int image_y)=0
Set center of omni-camera to given image pixel.
virtual void unwarp2warp(unsigned int unwarp_x, unsigned int unwarp_y, unsigned int *warp_x, unsigned int *warp_y)=0
Transform unwarped to warped point.
virtual bool isValidPoint(unsigned int image_x, unsigned int image_y) const =0
Check if the given point is valid.
virtual fawkes::polar_coord_2d_t getWorldPointRelative(unsigned int image_x, unsigned int image_y) const =0
Get relative coordinate based on image coordinates.
virtual float getOrientation() const =0
Get orientation of the omni-camera.
virtual fawkes::cart_coord_2d_t getWorldPointGlobal(unsigned int image_x, unsigned int image_y, float pose_x, float pose_y, float pose_ori) const =0
Get global coordinate based on image coordinates.
virtual const char * getName()=0
Get name of model.
virtual void warp2unwarp(unsigned int warp_x, unsigned int warp_y, unsigned int *unwarp_x, unsigned int *unwarp_y)=0
Transform warped to unwarped point.
virtual fawkes::upoint_t getCenter() const =0
Get the image pixel that is the center of the omni-camera.
virtual ~MirrorModel()
Virtual empty destructor.
virtual void reset()=0
Reset model.
virtual void setOrientation(float angle)=0
Set orientation of the omni-camera device.
Cartesian coordinates (2D).
Definition: types.h:65
Polar coordinates.
Definition: types.h:96
Point with cartesian coordinates as unsigned integers.
Definition: types.h:35