Team2890/PhotonVision
4
0
Fork 0
mirror of https://github.com/PhotonVision/photonvision synced 2026-06-21 01:01:41 +00:00
Code Issues Packages Projects Releases Wiki Activity

Rename StreamDivisor enum and work on CameraStreamer

Browse Source
This commit is contained in:
Matt
2019-11-07 16:53:31 -08:00
parent cc2c065dc8
commit 1e7f380f07
10 changed files with 101 additions and 34 deletions
Download Patch File Download Diff File Expand all files Collapse all files

32
Main/src/main/java/com/chameleonvision/classabstraction/camera/CameraStaticProperties.java
View File

@@ -5,32 +5,32 @@ import org.apache.commons.math3.util.FastMath;
public class CameraStaticProperties {
public final int ImageWidth;
public final int ImageHeight;
public final double FOV;
public final double ImageArea;
public final int imageWidth;
public final int imageHeight;
public final double fov;
public final double imageArea;
public final double centerX;
public final double centerY;
public final double HorizontalFocalLength;
public final double VerticalFocalLength;
public final double horizontalFocalLength;
public final double verticalFocalLength;
public CameraStaticProperties(int imageWidth, int imageHeight, double fov) {
ImageWidth = imageWidth;
ImageHeight = imageHeight;
FOV = fov;
ImageArea = ImageWidth * ImageHeight;
centerX = ((double) ImageWidth / 2) - 0.5;
centerY = ((double) ImageHeight / 2) - 0.5;
this.imageWidth = imageWidth;
this.imageHeight = imageHeight;
this.fov = fov;
imageArea = this.imageWidth * this.imageHeight;
centerX = ((double) this.imageWidth / 2) - 0.5;
centerY = ((double) this.imageHeight / 2) - 0.5;
// pinhole model calculations
double diagonalView = FastMath.toRadians(FOV);
Fraction aspectFraction = new Fraction(ImageWidth, ImageHeight);
double diagonalView = FastMath.toRadians(this.fov);
Fraction aspectFraction = new Fraction(this.imageWidth, this.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));
horizontalFocalLength = this.imageWidth / (2 * FastMath.tan(horizontalView /2));
verticalFocalLength = this.imageHeight / (2 * FastMath.tan(verticalView /2));
}
}