Fawkes API  Fawkes Development Version
bulb.h
1 
2 /***************************************************************************
3  * bulb.h - class defining a light bulb as mirror
4  *
5  * Created: Thu Jul 21 14:25:00 2005
6  * Copyright 2005-2012 Tim Niemueller [www.niemueller.de]
7  * 2005 Martin Heracles
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_MIRROR_BULB_H_
25 #define _FIREVISION_MODELS_MIRROR_BULB_H_
26 
27 #include <fvmodels/mirror/mirrormodel.h>
28 
29 #include <string>
30 
31 namespace firevision {
32 
33 class SharedMemoryLookupTable;
34 class BulbGenerator;
35 
36 class Bulb : public MirrorModel
37 {
38  friend BulbGenerator;
39 
40 public:
41  // This constructor loads an existing bulb model (lut) from file "filename".
42  Bulb(const char *filename);
43  Bulb(const char *filename, const char *lut_id, bool destroy_on_delete = false);
44 
45  Bulb(unsigned int width, unsigned int height);
46  Bulb(unsigned int width, unsigned int height, const char *lut_id, bool destroy_on_delete = false);
47 
48  Bulb(const Bulb &bulb);
49 
50  virtual ~Bulb();
51 
52  Bulb &operator=(const Bulb &bulb);
53 
54  virtual void warp2unwarp(unsigned int warp_x,
55  unsigned int warp_y,
56  unsigned int *unwarp_x,
57  unsigned int *unwarp_y);
58  virtual void unwarp2warp(unsigned int unwarp_x,
59  unsigned int unwarp_y,
60  unsigned int *warp_x,
61  unsigned int *warp_y);
62 
63  virtual const char *getName();
64 
65  virtual bool isValid();
66 
67  virtual void
68  setWorldPoint(unsigned int image_x, unsigned int image_y, float world_r, float world_phi);
69 
70  virtual fawkes::polar_coord_2d_t getWorldPointRelative(unsigned int image_x,
71  unsigned int image_y) const;
72 
73  virtual fawkes::cart_coord_2d_t getWorldPointGlobal(unsigned int image_x,
74  unsigned int image_y,
75  float pose_x,
76  float pose_y,
77  float pose_ori) const;
78 
79  virtual void reset();
80 
81  virtual fawkes::upoint_t getCenter() const;
82  virtual void setCenter(unsigned int image_x, unsigned int image_y);
83  virtual void setOrientation(float angle);
84  virtual float getOrientation() const;
85 
86  virtual bool isValidPoint(unsigned int image_x, unsigned int image_y) const;
87 
88  bool isNonZero(unsigned int image_x, unsigned int image_y) const;
89 
90  unsigned int numNonZero() const;
91 
92  float getAngle(unsigned int image_x, unsigned int image_y) const;
93 
94  float getDistanceInImage(unsigned int image_p1_x,
95  unsigned int image_p1_y,
96  unsigned int image_p2_x,
97  unsigned int image_p2_y);
98 
99  float convertAngleI2W(float angle_in_image) const;
100 
101  void load(const char *filename);
102  void save(const char *filename);
103 
104  static std::string composeFilename(const char *format);
105 
106  const fawkes::polar_coord_2d_t *get_lut() const;
107 
108 protected:
109  /** bulb file header. */
110  typedef struct
111  {
112  unsigned int width; /**< width of LUT */
113  unsigned int height; /**< height of LUT */
114  unsigned int center_x; /**< x coordinate of mirror center in image */
115  unsigned int center_y; /**< y coordinate of mirror center in image */
116  float orientation; /**< orientation of camera in image */
117  float dist_min; /**< minimum distance from mirror center */
118  float dist_max; /**< maximum distance from mirror center */
120 
121 private:
122  void create();
123  void erase();
124  void init();
125 
126 private:
127  // dimension of lut (and image)
128  unsigned int width;
129  unsigned int height;
130  unsigned int bytes_per_sample;
131 
132  // center of omni camera device
133  unsigned int image_center_x;
134  unsigned int image_center_y;
135 
136  // orientation of omni camera device
137  float orientation;
138 
139  // distance of closest and of farthest sample point
140  float distance_min;
141  float distance_max;
142 
143  bool valid;
144 
145  char * lut_id;
147  unsigned int lut_bytes;
148  bool destroy_on_delete;
149 
150  SharedMemoryLookupTable *shm_lut;
151 };
152 
153 } // end namespace firevision
154 
155 #endif
virtual fawkes::upoint_t getCenter() const
Get the image pixel that is the center of the omni-camera.
Definition: bulb.cpp:480
Cartesian coordinates (2D).
Definition: types.h:64
unsigned int center_y
y coordinate of mirror center in image
Definition: bulb.h:115
virtual void reset()
Reset model.
Definition: bulb.cpp:474
float dist_min
minimum distance from mirror center
Definition: bulb.h:117
Bulb(const char *filename)
Constructor.
Definition: bulb.cpp:56
virtual fawkes::polar_coord_2d_t getWorldPointRelative(unsigned int image_x, unsigned int image_y) const
Get relative coordinate based on image coordinates.
Definition: bulb.cpp:373
virtual bool isValid()
Check if a valid LUT has been loaded.
Definition: bulb.cpp:367
virtual bool isValidPoint(unsigned int image_x, unsigned int image_y) const
Check if the given point is valid.
Definition: bulb.cpp:525
virtual void warp2unwarp(unsigned int warp_x, unsigned int warp_y, unsigned int *unwarp_x, unsigned int *unwarp_y)
Transform warped to unwarped point.
Definition: bulb.cpp:331
Polar coordinates.
Definition: types.h:95
float getDistanceInImage(unsigned int image_p1_x, unsigned int image_p1_y, unsigned int image_p2_x, unsigned int image_p2_y)
Euklidean distance between to image points.
Definition: bulb.cpp:587
void load(const char *filename)
Load LUT from file.
Definition: bulb.cpp:262
unsigned int numNonZero() const
Get number of non-zero entries.
Definition: bulb.cpp:552
bool isNonZero(unsigned int image_x, unsigned int image_y) const
Check if pixel maps to valid world point.
Definition: bulb.cpp:538
static std::string composeFilename(const char *format)
Compose a filename matching the given format.
Definition: bulb.cpp:653
virtual float getOrientation() const
Get orientation of the omni-camera.
Definition: bulb.cpp:519
Mirror model interface.
Definition: mirrormodel.h:31
Bulb mirror lookup table.
Definition: bulb.h:36
virtual void setOrientation(float angle)
Set orientation of the omni-camera device.
Definition: bulb.cpp:507
Point with cartesian coordinates as unsigned integers.
Definition: types.h:34
float dist_max
maximum distance from mirror center
Definition: bulb.h:118
virtual ~Bulb()
Destructor.
Definition: bulb.cpp:210
const fawkes::polar_coord_2d_t * get_lut() const
Get the raw lookup table.
Definition: bulb.cpp:433
virtual void unwarp2warp(unsigned int unwarp_x, unsigned int unwarp_y, unsigned int *warp_x, unsigned int *warp_y)
Transform unwarped to warped point.
Definition: bulb.cpp:350
unsigned int width
width of LUT
Definition: bulb.h:112
Bulb & operator=(const Bulb &bulb)
Assignment operator.
Definition: bulb.cpp:156
virtual void setCenter(unsigned int image_x, unsigned int image_y)
Set center of omni-camera to given image pixel.
Definition: bulb.cpp:491
float orientation
orientation of camera in image
Definition: bulb.h:116
virtual const char * getName()
Get name of model.
Definition: bulb.cpp:358
void save(const char *filename)
Save LUT from file.
Definition: bulb.cpp:297
virtual void setWorldPoint(unsigned int image_x, unsigned int image_y, float world_r, float world_phi)
Set a world point mapping.
Definition: bulb.cpp:447
unsigned int center_x
x coordinate of mirror center in image
Definition: bulb.h:114
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
Get global coordinate based on image coordinates.
Definition: bulb.cpp:389
float getAngle(unsigned int image_x, unsigned int image_y) const
Angle between direction to point and "to the right".
Definition: bulb.cpp:574
float convertAngleI2W(float angle_in_image) const
convertAngleI2W
Definition: bulb.cpp:605
Shared memory lookup table.
Definition: shm_lut.h:112
unsigned int height
height of LUT
Definition: bulb.h:113