diff --git a/chameleon-server/src/main/java/com/chameleonvision/config/CameraJsonConfig.java b/chameleon-server/src/main/java/com/chameleonvision/config/CameraJsonConfig.java index 69ae4651e..0411ca7e0 100644 --- a/chameleon-server/src/main/java/com/chameleonvision/config/CameraJsonConfig.java +++ b/chameleon-server/src/main/java/com/chameleonvision/config/CameraJsonConfig.java @@ -12,6 +12,7 @@ public class CameraJsonConfig { public final String name; public final String nickname; public final int videomode; + public final double tilt; public final StreamDivisor streamDivisor; @JsonCreator @@ -21,13 +22,15 @@ public class CameraJsonConfig { @JsonProperty("name") String name, @JsonProperty("nickname") String nickname, @JsonProperty("videomode") int videomode, - @JsonProperty("streamDivisor") StreamDivisor streamDivisor) { + @JsonProperty("streamDivisor") StreamDivisor streamDivisor, + @JsonProperty("tilt") double tilt) { this.fov = fov; this.path = path; this.name = name; this.nickname = nickname; this.videomode = videomode; this.streamDivisor = streamDivisor; + this.tilt = tilt; } public CameraJsonConfig(String path, String name) { @@ -37,12 +40,14 @@ public class CameraJsonConfig { this.nickname = name; this.videomode = 0; this.streamDivisor = StreamDivisor.NONE; + this.tilt = 0; } public static CameraJsonConfig fromVisionProcess(VisionProcess process) { USBCaptureProperties camProps = process.getCamera().getProperties(); int videomode = camProps.getCurrentVideoModeIndex(); StreamDivisor streamDivisor = process.cameraStreamer.getDivisor(); - return new CameraJsonConfig(camProps.getFOV(), camProps.path, camProps.name, camProps.getNickname(), videomode, streamDivisor); + double tilt = process.getCamera().getProperties().getTilt().getDegrees(); + return new CameraJsonConfig(camProps.getFOV(), camProps.path, camProps.name, camProps.getNickname(), videomode, streamDivisor, tilt); } } diff --git a/chameleon-server/src/main/java/com/chameleonvision/vision/camera/USBCaptureProperties.java b/chameleon-server/src/main/java/com/chameleonvision/vision/camera/USBCaptureProperties.java index 11a8d9dcb..4bca63bfb 100644 --- a/chameleon-server/src/main/java/com/chameleonvision/vision/camera/USBCaptureProperties.java +++ b/chameleon-server/src/main/java/com/chameleonvision/vision/camera/USBCaptureProperties.java @@ -45,6 +45,7 @@ public class USBCaptureProperties extends CaptureProperties { FOV = config.fov; name = config.name; path = config.path; + setTilt(Rotation2d.fromDegrees(config.tilt)); nickname = config.nickname; this.baseCamera = baseCamera;