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Begin further work on abstraction layout in separate package

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This commit is contained in:
Banks Troutman
2019-11-04 02:23:13 -05:00
parent 42b76dfbf9
commit 1bca800f4f
13 changed files with 232 additions and 26 deletions
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4
Main/src/main/java/com/chameleonvision/vision/camera/CameraManager.java
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@@ -43,7 +43,7 @@ public class CameraManager {
public static HashMap<String, USBCamera> getAllCamerasByName() {
return allCamerasByName;
}
public static List<String> getAllCameraByNickname(){
public static List<String> getAllCameraByNickname() {
var cameras = getAllCamerasByName();
return cameras.values().stream().map(USBCamera::getNickname).collect(Collectors.toList());
}
@@ -101,6 +101,7 @@ public class CameraManager {
if (curCam == null) throw new CameraException(CameraException.CameraExceptionType.BAD_CAMERA);
return curCam;
}
public static Integer getCurrentCameraIndex() throws CameraException {
if (allCamerasByName.size() == 0) throw new CameraException(CameraException.CameraExceptionType.NO_CAMERA);
List<String> arr = new ArrayList<>(allCamerasByName.keySet());
@@ -118,6 +119,7 @@ public class CameraManager {
SettingsManager.generalSettings.currentCamera = cameraName;
SettingsManager.updateCameraSetting(cameraName, getCurrentCamera().getCurrentPipelineIndex());
}
public static void setCurrentCamera(int cameraIndex) throws CameraException {
List<String> s = new ArrayList<String>(allCamerasByName.keySet());
setCurrentCamera(s.get(cameraIndex));

41
Main/src/main/java/com/chameleonvision/vision/camera/CameraValues.java
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@@ -3,7 +3,6 @@ package com.chameleonvision.vision.camera;
import org.apache.commons.math3.fraction.Fraction;
import org.apache.commons.math3.util.FastMath;
@SuppressWarnings("WeakerAccess")
public class CameraValues {
public final int ImageWidth;
public final int ImageHeight;
@@ -11,20 +10,14 @@ public class CameraValues {
public final double ImageArea;
public final double CenterX;
public final double CenterY;
public final double DiagonalView;
public final double DiagonalAspect;
public final Fraction AspectFraction;
public final int HorizontalRatio;
public final int VerticalRatio;
public final double HorizontalView;
public final double VerticalView;
public final double HorizontalFocalLength;
public final double VerticalFocalLength;
private final double HorizontalFocalLength;
private final double VerticalFocalLength;
public CameraValues(USBCamera USBCamera) {
this(USBCamera.getVideoMode().width, USBCamera.getVideoMode().height, USBCamera.getFOV());
}
public CameraValues(int imageWidth, int imageHeight, double fov) {
ImageWidth = imageWidth;
ImageHeight = imageHeight;
@@ -32,21 +25,25 @@ public class CameraValues {
ImageArea = ImageWidth * ImageHeight;
CenterX = ((double) ImageWidth / 2) - 0.5;
CenterY = ((double) ImageHeight / 2) - 0.5;
DiagonalView = FastMath.toRadians(FOV);
AspectFraction = new Fraction(ImageWidth, ImageHeight);
HorizontalRatio = AspectFraction.getNumerator();
VerticalRatio = AspectFraction.getDenominator();
DiagonalAspect = FastMath.hypot(HorizontalRatio, VerticalRatio);
HorizontalView = FastMath.atan(FastMath.tan(DiagonalView / 2) * (HorizontalRatio / DiagonalAspect)) * 2;
VerticalView = FastMath.atan(FastMath.tan(DiagonalView / 2) * (VerticalRatio / DiagonalAspect)) * 2;
HorizontalFocalLength = ImageWidth / (2 * FastMath.tan(HorizontalView /2));
VerticalFocalLength = ImageHeight / (2 * FastMath.tan(VerticalView /2));
// pinhole model calculations
double diagonalView = FastMath.toRadians(FOV);
Fraction aspectFraction = new Fraction(ImageWidth, ImageHeight);
int horizontalRatio = aspectFraction.getNumerator();
int verticalRatio = aspectFraction.getDenominator();
double diagonalAspect = FastMath.hypot(horizontalRatio, verticalRatio);
double horizontalView = FastMath.atan(FastMath.tan(diagonalView / 2) * (horizontalRatio / diagonalAspect)) * 2;
double verticalView = FastMath.atan(FastMath.tan(diagonalView / 2) * (verticalRatio / diagonalAspect)) * 2;
HorizontalFocalLength = ImageWidth / (2 * FastMath.tan(horizontalView /2));
VerticalFocalLength = ImageHeight / (2 * FastMath.tan(verticalView /2));
}
public double CalculatePitch(double PixelY, double centerY){
double pitch = FastMath.toDegrees(FastMath.atan((PixelY - centerY) / VerticalFocalLength));
public double CalculatePitch(double PixelY, double centerY) {
double pitch = FastMath.toDegrees(FastMath.atan((PixelY - centerY) / VerticalFocalLength));
return (pitch * -1);
}
public double CalculateYaw(double PixelX, double centerX){
public double CalculateYaw(double PixelX, double centerX) {
return FastMath.toDegrees(FastMath.atan((PixelX - centerX) / HorizontalFocalLength));
}
}