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running in to bug in CameraStreamer with native exceptions
This commit is contained in:
Banks Troutman
2019-11-21 05:32:19 -05:00
parent 35509c0162
commit 48da9f5dfd
21 changed files with 678 additions and 211 deletions
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19
Main/src/main/java/com/chameleonvision/classabstraction/camera/CameraProperties.java
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@@ -1,11 +1,8 @@
package com.chameleonvision.classabstraction.camera;
import com.chameleonvision.Main;
import com.chameleonvision.classabstraction.config.CameraConfig;
import com.chameleonvision.settings.Platform;
import com.chameleonvision.vision.camera.USBCamera;
import edu.wpi.cscore.UsbCamera;
import edu.wpi.cscore.UsbCameraInfo;
import edu.wpi.cscore.VideoMode;
import org.apache.commons.math3.util.FastMath;
@@ -16,7 +13,7 @@ import java.util.stream.Collectors;
import java.util.stream.Stream;
public class CameraProperties {
private static final double DEFAULT_FOV = 70;
public static final double DEFAULT_FOV = 70;
private static final int DEFAULT_EXPOSURE = 50;
private static final int DEFAULT_BRIGHTNESS = 50;
private static final int MINIMUM_FPS = 30;
@@ -61,8 +58,16 @@ public class CameraProperties {
System.out.printf("USBCameraProcess initialized in %.2fms\n", initTimeMs);
}
// TODO: find way to determine if camera is a PS3Eye
hasGain = false;
var props = baseCamera.enumerateProperties();
// var props = baseCamera.enumerateProperties();
// for (var prop : props) {
// var name = prop.getName();
// var min = prop.getMin();
// var max = prop.getMax();
// var _default = prop.getDefault();
// var kind = prop.getKind();
// }
videoModes = filterVideoModes(baseCamera.enumerateVideoModes());
}
@@ -85,12 +90,12 @@ public class CameraProperties {
staticProperties = new CameraStaticProperties(videoMode.width, videoMode.height, FOV);
}
public double CalculatePitch(double PixelY, double centerY) {
public double calculatePitch(double PixelY, double centerY) {
double pitch = FastMath.toDegrees(FastMath.atan((PixelY - centerY) / staticProperties.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) / staticProperties.horizontalFocalLength));
}
}