22 #ifndef __FIREVISION_MODELS_RELATIVE_POSITION_BACK_PROJECTION_H_
23 #define __FIREVISION_MODELS_RELATIVE_POSITION_BACK_PROJECTION_H_
25 #include <fvmodels/relative_position/relativepositionmodel.h>
27 #include <fvmodels/camera/projective_cam.h>
28 #include <utils/math/types.h>
30 namespace firevision {
39 float ball_circumference = 0.f);
41 virtual const char *
get_name()
const {
return "BackProjectionPositionModel"; }
42 virtual void set_radius(
float r);
43 virtual void set_center(
float x,
float y);
46 virtual void set_pan_tilt(
float pan = 0.0f,
float tilt = 0.0f) { set_cam_rotation(pan, tilt, 0.f); }
47 virtual void get_pan_tilt(
float *pan,
float *tilt)
const;
49 virtual void set_cam_rotation(
float pan = 0.f,
float tilt = 0.f,
float roll = 0.f);
50 virtual void get_cam_rotation(
float &pan,
float &tilt,
float &roll)
const;
52 virtual void set_cam_translation(
float height,
float rel_x = 0.f,
float rel_y = 0.f);
53 virtual void get_cam_translation(
float &height,
float &rel_x,
float &rel_y)
const;
56 virtual float get_x()
const {
return __world_x; }
57 virtual float get_y()
const {
return __world_y; }
74 float __ball_circumference;
virtual void set_center(const center_in_roi_t &c)
Set center of a found circle.
virtual bool is_pos_valid() const
Check if position is valid.
virtual void calc_unfiltered()
Calculate data unfiltered.
virtual float get_y() const
Get relative Y coordinate of object.
virtual float get_slope() const
Get slope (vertical angle) to object.
virtual float get_distance() const
Get distance to object.
Defines a point with 6-degrees of freedom.
Abstract class for projective cameras.
Relative Position Model Interface.
virtual void set_pan_tilt(float pan=0.0f, float tilt=0.0f)
Set camera pan and tilt.
virtual float get_x() const
Get relative X coordinate of object.
This model uses a ProjectiveCam to back project points in the image to the world by the ground plane ...
virtual float get_bearing() const
Get bearing (horizontal angle) to object.
virtual const char * get_name() const
Get name of relative position model.