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added image flip and fixed focal length

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ori
2019-09-21 08:06:27 -07:00
parent 84ddc8ec4e
commit 4c315ac554
2 changed files with 8 additions and 4 deletions
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5
Main/src/main/java/com/chameleonvision/vision/camera/CameraValues.java
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@@ -37,10 +37,11 @@ public class CameraValues {
HorizontalView = FastMath.atan(FastMath.tan(DiagonalView / 2) * (HorizontalRatio / DiagonalView)) * 2;
VerticalView = FastMath.atan(FastMath.tan(DiagonalView/2) * (VerticalRatio / DiagonalView)) * 2;
HorizontalFocalLength = ImageWidth / (2 * FastMath.tan(HorizontalView /2));
VerticalFocalLength = ImageWidth / (2 * FastMath.tan(VerticalView /2));
VerticalFocalLength = ImageHeight / (2 * FastMath.tan(VerticalView /2));
}
public double CalculatePitch(double PixelY, double centerY){
return (FastMath.toDegrees((FastMath.atan(PixelY - centerY) / VerticalFocalLength)) * -1);
double pitch = (FastMath.toDegrees((FastMath.atan(PixelY - centerY) / VerticalFocalLength)));
return (pitch * -1);
}
public double CalculateYaw(double PixelX, double centerX){
return FastMath.toDegrees(FastMath.atan(PixelX - centerX) / HorizontalFocalLength);

7
Main/src/main/java/com/chameleonvision/vision/process/CameraProcess.java
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@@ -120,6 +120,9 @@ public class CameraProcess implements Runnable {
if (currentPipeline == null) {
return pipelineResult;
}
if (!currentPipeline.orientation.equals("Normal")){
Core.flip(inputImage,inputImage,-1);
}
if (ntDriverModeEntry.getBoolean(false)){
inputImage.copyTo(outputImage);
return pipelineResult;
@@ -149,9 +152,9 @@ public class CameraProcess implements Runnable {
} else {
pipelineResult.CalibratedX = (finalRect.center.y - currentPipeline.B) / currentPipeline.M;
pipelineResult.CalibratedY = finalRect.center.x * currentPipeline.M + currentPipeline.B;
pipelineResult.Pitch = camera.getCamVals().CalculatePitch(finalRect.center.y, pipelineResult.CalibratedY);
pipelineResult.Yaw = camera.getCamVals().CalculateYaw(finalRect.center.x, pipelineResult.CalibratedX);
}
pipelineResult.Pitch = camera.getCamVals().CalculatePitch(finalRect.center.y, pipelineResult.CalibratedY);
pipelineResult.Yaw = camera.getCamVals().CalculateYaw(finalRect.center.x, pipelineResult.CalibratedX);
// TODO Send pitch yaw distance and Raw Point using websockets to client for calib calc
drawContour(outputImage, finalRect);
}