firevision::BackProjectionPositionModel Class Reference

This model uses a ProjectiveCam to back project points in the image to the world by the ground plane assumption. More...

#include <models/relative_position/back_projection.h>

Inheritance diagram for firevision::BackProjectionPositionModel:

[legend]

List of all members.

Public Member Functions
	BackProjectionPositionModel (ProjectiveCam &projective_cam, float ball_circumference=0.f)
	Constructor.
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	set_center (float x, float y)
	Set center of a found circle.
virtual void	set_center (const center_in_roi_t &c)
	Set center of a found circle.
virtual void	set_pan_tilt (float pan=0.0f, float tilt=0.0f)
	Set camera pan and tilt.
virtual void	get_pan_tilt (float pan, float tilt) const
	Get camera pan tilt.
virtual void	set_cam_rotation (float pan=0.f, float tilt=0.f, float roll=0.f)
	Sets the camera orientation.
virtual void	get_cam_rotation (float &pan, float &tilt, float &roll) const
	Returns the camera orientation.
virtual void	set_cam_translation (float height, float rel_x=0.f, float rel_y=0.f)
	Sets the current translation of the camera.
virtual void	get_cam_translation (float &height, float &rel_x, float &rel_y) const
	Returns the current translation of the camera.
virtual float	get_distance () const
	Get distance to object.
virtual float	get_x () const
	Get relative X coordinate of object.
virtual float	get_y () const
	Get relative Y coordinate of object.
virtual float	get_bearing () const
	Get bearing (horizontal angle) to object.
virtual float	get_slope () const
	Get slope (vertical angle) to object.
virtual void	calc ()
	Calculate position data.
virtual void	calc_unfiltered ()
	Calculate data unfiltered.
virtual void	reset ()
	Reset all data.
virtual bool	is_pos_valid () const
	Check if position is valid.

Detailed Description

This model uses a ProjectiveCam to back project points in the image to the world by the ground plane assumption.

Author:: Christof Rath

Definition at line 35 of file back_projection.h.

Constructor & Destructor Documentation

firevision::BackProjectionPositionModel::BackProjectionPositionModel	(	ProjectiveCam &	projective_cam,
		float	ball_circumference = `0.f`
	)

Constructor.

Parameters:

	projective_cam	the projective camera object
	ball_circumference	the circumference in case it's a ball

Definition at line 42 of file back_projection.cpp.

References firevision::center_in_roi_t::x, and firevision::center_in_roi_t::y.

Member Function Documentation

void firevision::BackProjectionPositionModel::calc ( ) [virtual]

Calculate position data.

Call this method if all relevant data (set(Radius|Center|PanTilt)) has been set, after this valid data can be retrieved via get*

Implements firevision::RelativePositionModel.

Definition at line 107 of file back_projection.cpp.

References firevision::ProjectiveCam::get_GPA_world_coord(), fawkes::point_6D_struct::pitch, fawkes::point_6D_struct::roll, firevision::ProjectiveCam::set_location(), fawkes::cart_coord_2d_t::x, fawkes::point_6D_struct::x, fawkes::cart_coord_2d_t::y, fawkes::point_6D_struct::y, fawkes::point_6D_struct::yaw, and fawkes::point_6D_struct::z.

virtual void firevision::BackProjectionPositionModel::calc_unfiltered ( ) [inline, virtual]

Calculate data unfiltered.

Same as calc(), but without any filtering (i.e. no Kalman filter).

Implements firevision::RelativePositionModel.

Definition at line 62 of file back_projection.h.

virtual float firevision::BackProjectionPositionModel::get_bearing ( void ) const [inline, virtual]

Get bearing (horizontal angle) to object.

Returns:: bearing in rad

Implements firevision::RelativePositionModel.

Definition at line 58 of file back_projection.h.

void firevision::BackProjectionPositionModel::get_cam_rotation	(	float &	pan,
		float &	tilt,
		float &	roll
	)			const `[virtual]`

Returns the camera orientation.

Parameters:

	pan	pan value (rad)
	tilt	tilt value (rad)
	roll	roll value (rad)

Reimplemented from firevision::RelativePositionModel.

Definition at line 84 of file back_projection.cpp.

References fawkes::point_6D_struct::pitch, fawkes::point_6D_struct::roll, and fawkes::point_6D_struct::yaw.

Referenced by get_pan_tilt().

void firevision::BackProjectionPositionModel::get_cam_translation	(	float &	height,
		float &	rel_x,
		float &	rel_y
	)			const `[virtual]`

Returns the current translation of the camera.

Parameters:

	height	height of the camera [m]
	rel_x	distance to the center of the robot [m]
	rel_y	distance to the center of the robot [m]

Reimplemented from firevision::RelativePositionModel.

Definition at line 98 of file back_projection.cpp.

References fawkes::point_6D_struct::x, fawkes::point_6D_struct::y, and fawkes::point_6D_struct::z.

virtual float firevision::BackProjectionPositionModel::get_distance ( ) const [inline, virtual]

Get distance to object.

Returns:: distance to object in meters.

Implements firevision::RelativePositionModel.

Definition at line 55 of file back_projection.h.

virtual const char* firevision::BackProjectionPositionModel::get_name ( void ) const [inline, virtual]

Get name of relative position model.

Returns:: name of relative position model

Implements firevision::RelativePositionModel.

Definition at line 41 of file back_projection.h.

void firevision::BackProjectionPositionModel::get_pan_tilt	(	float *	pan,
		float *	tilt
	)			const `[virtual]`

Get camera pan tilt.

Parameters:

	pan	contains pan value (rad) upon return
	tilt	contains tilt value (rad) upon return

Implements firevision::RelativePositionModel.

Definition at line 78 of file back_projection.cpp.

References get_cam_rotation().

virtual float firevision::BackProjectionPositionModel::get_slope ( ) const [inline, virtual]

Get slope (vertical angle) to object.

Returns:: slope in rad

Implements firevision::RelativePositionModel.

Definition at line 59 of file back_projection.h.

virtual float firevision::BackProjectionPositionModel::get_x ( void ) const [inline, virtual]

Get relative X coordinate of object.

Returns:: relative X coordinate in local metric cartesian coordinate system

Implements firevision::RelativePositionModel.

Definition at line 56 of file back_projection.h.

virtual float firevision::BackProjectionPositionModel::get_y ( void ) const [inline, virtual]

Get relative Y coordinate of object.

Returns:: relative Y coordinate in local metric cartesian coordinate system

Implements firevision::RelativePositionModel.

Definition at line 57 of file back_projection.h.

virtual bool firevision::BackProjectionPositionModel::is_pos_valid ( ) const [inline, virtual]

Check if position is valid.

Returns:: true, if the calculated position is valid, false otherwise

Author:: Tim Niemueller

Implements firevision::RelativePositionModel.

Definition at line 65 of file back_projection.h.

void firevision::BackProjectionPositionModel::reset ( ) [virtual]

Reset all data.

This must be called if the object is not visible.

Implements firevision::RelativePositionModel.

Definition at line 141 of file back_projection.cpp.

void firevision::BackProjectionPositionModel::set_cam_rotation	(	float	pan = `0.f`,
		float	tilt = `0.f`,
		float	roll = `0.f`
	)			`[virtual]`

Sets the camera orientation.

Parameters:

	pan	pan value (rad)
	tilt	tilt value (rad)
	roll	roll value (rad)

Reimplemented from firevision::RelativePositionModel.

Definition at line 71 of file back_projection.cpp.

References fawkes::point_6D_struct::pitch, fawkes::point_6D_struct::roll, and fawkes::point_6D_struct::yaw.

void firevision::BackProjectionPositionModel::set_cam_translation	(	float	height,
		float	rel_x = `0.f`,
		float	rel_y = `0.f`
	)			`[virtual]`

Sets the current translation of the camera.

Parameters:

	height	height of the camera [m]
	rel_x	distance to the center of the robot [m]
	rel_y	distance to the center of the robot [m]

Reimplemented from firevision::RelativePositionModel.

Definition at line 91 of file back_projection.cpp.

References fawkes::point_6D_struct::x, fawkes::point_6D_struct::y, and fawkes::point_6D_struct::z.

virtual void firevision::BackProjectionPositionModel::set_center ( const center_in_roi_t & c ) [inline, virtual]

Set center of a found circle.

This is especially used for ball position implementations.

Parameters:

c

center

Implements firevision::RelativePositionModel.

Definition at line 44 of file back_projection.h.

References set_center(), firevision::center_in_roi_t::x, and firevision::center_in_roi_t::y.

Referenced by set_center().

void firevision::BackProjectionPositionModel::set_center	(	float	x,
		float	y
	)			`[virtual]`

Set center of a found circle.

This is especially used for ball position implementations.

Parameters:

	x	x position in image (pixels)
	y	y position in image (pixels)

Implements firevision::RelativePositionModel.

Definition at line 63 of file back_projection.cpp.

References firevision::center_in_roi_t::x, and firevision::center_in_roi_t::y.

virtual void firevision::BackProjectionPositionModel::set_pan_tilt	(	float	pan = `0.0f`,
		float	tilt = `0.0f`
	)			`[inline, virtual]`

Set camera pan and tilt.

Parameters:

	pan	pan value (rad)
	tilt	tilt value (rad)

Implements firevision::RelativePositionModel.

Definition at line 46 of file back_projection.h.

void firevision::BackProjectionPositionModel::set_radius ( float r ) [virtual]

Set radius of a found circle.

This is especially used for ball position implementations.

Parameters:

r

radius

Implements firevision::RelativePositionModel.

Definition at line 56 of file back_projection.cpp.

The documentation for this class was generated from the following files:

src/firevision/models/relative_position/back_projection.h
src/firevision/models/relative_position/back_projection.cpp

firevision::BackProjectionPositionModel Class Reference

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation