24 #ifndef _FIREVISION_MODELS_MIRRORMODEL_H_ 25 #define _FIREVISION_MODELS_MIRRORMODEL_H_ 27 #include <utils/math/types.h> 29 namespace firevision {
38 unsigned int *unwarp_x,
39 unsigned int *unwarp_y) = 0;
42 unsigned int unwarp_y,
44 unsigned int *warp_y) = 0;
46 virtual const char *
getName() = 0;
49 unsigned int image_y)
const = 0;
55 float pose_ori)
const = 0;
57 virtual void reset() = 0;
60 virtual void setCenter(
unsigned int image_x,
unsigned int image_y) = 0;
64 virtual bool isValidPoint(
unsigned int image_x,
unsigned int image_y)
const = 0;
virtual void reset()=0
Reset model.
Cartesian coordinates (2D).
virtual void setCenter(unsigned int image_x, unsigned int image_y)=0
Set center of omni-camera to given image pixel.
virtual const char * getName()=0
Get name of model.
virtual float getOrientation() const =0
Get orientation of the omni-camera.
virtual bool isValidPoint(unsigned int image_x, unsigned int image_y) const =0
Check if the given point is valid.
virtual fawkes::upoint_t getCenter() const =0
Get the image pixel that is the center of the omni-camera.
Point with cartesian coordinates as unsigned integers.
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 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::polar_coord_2d_t getWorldPointRelative(unsigned int image_x, unsigned int image_y) const =0
Get relative coordinate based on image coordinates.
virtual ~MirrorModel()
Virtual empty destructor.
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 void setOrientation(float angle)=0
Set orientation of the omni-camera device.