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Full rewrite of camera system

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Banks Troutman
2019-09-19 14:07:42 -04:00
parent 760f62dd93
commit 508ccff766
16 changed files with 470 additions and 252 deletions
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48
Main/src/main/java/com/chameleonvision/vision/camera/CameraValues.java Normal file
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package com.chameleonvision.vision.camera;
import org.apache.commons.math3.fraction.Fraction;
import org.apache.commons.math3.util.FastMath;
public class CameraValues {
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 DiagonalView;
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;
public CameraValues(Camera camera) {
this(camera.getVideoMode().width, camera.getVideoMode().height, camera.getFOV());
}
public CameraValues(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;
DiagonalView = FastMath.toRadians(FOV);
AspectFraction = new Fraction(ImageWidth, ImageHeight);
HorizontalRatio = AspectFraction.getNumerator();
VerticalRatio = AspectFraction.getDenominator();
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));
}
public double CalculatePitch(double PixelY, double centerY){
return (FastMath.toDegrees((FastMath.atan(PixelY - centerY) / VerticalFocalLength)) * -1);
}
public double CalculateYaw(double PixelX, double centerX){
return FastMath.toDegrees(FastMath.atan(PixelX - centerX) / HorizontalFocalLength);
}
}