Fawkes API Fawkes Development Version
tracker.h
1
2/***************************************************************************
3 * camera_tracker.h - This header defines a camera tracker
4 *
5 * Generated: Thu Jul 14 22:29:25 2005
6 * Copyright 2005 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_FVUTILS_CAMERA_TRACKER_H_
25#define _FIREVISION_FVUTILS_CAMERA_TRACKER_H_
26
27namespace firevision {
28
29class RelativePositionModel;
30
32{
33public:
34 CameraTracker(RelativePositionModel *relative_position_model,
35 float camera_height,
36 float camera_ori_deg);
37
39
40 void calc();
41
42 float get_new_pan();
43 float get_new_tilt();
44
45 void set_mode(unsigned int mode);
47 void set_robot_position(float x, float y, float ori);
48 void set_world_point(float x, float y);
49
50 static const unsigned int MODE_MODEL;
51 static const unsigned int MODE_WORLD;
52
53private:
55
56 float camera_height;
57 float camera_orientation;
58
59 float new_pan;
60 float new_tilt;
61
62 float robot_x;
63 float robot_y;
64 float robot_ori;
65
66 float world_x;
67 float world_y;
68
69 unsigned int mode;
70};
71
72} // end namespace firevision
73
74#endif
Camera Tracker.
Definition: tracker.h:32
void set_relative_position_model(RelativePositionModel *rpm)
Set relative position model.
Definition: tracker.cpp:160
float get_new_tilt()
Get the new tilt value.
Definition: tracker.cpp:136
void set_world_point(float x, float y)
Set world point.
Definition: tracker.cpp:187
static const unsigned int MODE_MODEL
Model mode, track by a relative world model.
Definition: tracker.h:50
void set_robot_position(float x, float y, float ori)
Set robot position.
Definition: tracker.cpp:172
void calc()
Calculate values.
Definition: tracker.cpp:83
void set_mode(unsigned int mode)
Set tracking mode.
Definition: tracker.cpp:146
float get_new_pan()
Get the new pan value.
Definition: tracker.cpp:127
CameraTracker(RelativePositionModel *relative_position_model, float camera_height, float camera_ori_deg)
Constructor.
Definition: tracker.cpp:63
static const unsigned int MODE_WORLD
World point mode, track a world point.
Definition: tracker.h:51
~CameraTracker()
Destructor.
Definition: tracker.cpp:74
Relative Position Model Interface.