29 #ifndef __FIREVISION_MODELS_SCANLINE_CORNERHORIZON_H_ 30 #define __FIREVISION_MODELS_SCANLINE_CORNERHORIZON_H_ 32 #include <fvmodels/scanlines/scanlinemodel.h> 33 #include <fvutils/base/types.h> 46 float field_length,
float field_width,
float field_border,
47 unsigned int image_width,
unsigned int image_height,
48 float camera_height,
float camera_ori,
49 float horizontal_angle,
float vertical_angle
61 const char * get_name();
62 unsigned int get_margin();
64 void set_robot_pose(
float x,
float y,
float ori);
65 void set_pan_tilt(
float pan,
float tilt);
67 unsigned int getHorizon();
88 unsigned int image_width;
89 unsigned int image_height;
94 float horizontal_angle;
97 float pan_pixel_per_rad;
98 float tilt_pixel_per_rad;
103 unsigned int horizon;
105 static const float M_PI_HALF;
Cut of arbitrary scanline models at an artificial horizon.
Scanline model interface.
Point with cartesian coordinates as unsigned integers.