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Recreated all pipeline steps as Pipes and set up CVPipeline2d

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This commit is contained in:
Banks Troutman
2019-11-07 11:15:54 -05:00
parent d619d85109
commit c213d4c751
25 changed files with 888 additions and 221 deletions
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3
Main/src/main/java/com/chameleonvision/classabstraction/camera/CameraProperties.java
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@@ -31,9 +31,8 @@ public class CameraProperties {
public CameraProperties(UsbCamera baseCamera, double fov) {
FOV = fov;
// TODO: determine how to set the initial videomode properly
videoModes = filterVideoModes(baseCamera.enumerateVideoModes());
}
private List<VideoMode> filterVideoModes(VideoMode[] videoModes) {

8
Main/src/main/java/com/chameleonvision/classabstraction/camera/CameraStaticProperties.java
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@@ -9,8 +9,8 @@ public class CameraStaticProperties {
public final int ImageHeight;
public final double FOV;
public final double ImageArea;
public final double CenterX;
public final double CenterY;
public final double centerX;
public final double centerY;
public final double HorizontalFocalLength;
public final double VerticalFocalLength;
@@ -19,8 +19,8 @@ public class CameraStaticProperties {
ImageHeight = imageHeight;
FOV = fov;
ImageArea = ImageWidth * ImageHeight;
CenterX = ((double) ImageWidth / 2) - 0.5;
CenterY = ((double) ImageHeight / 2) - 0.5;
centerX = ((double) ImageWidth / 2) - 0.5;
centerY = ((double) ImageHeight / 2) - 0.5;
// pinhole model calculations
double diagonalView = FastMath.toRadians(FOV);

2
Main/src/main/java/com/chameleonvision/classabstraction/camera/USBCamera.java
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@@ -5,7 +5,7 @@ import edu.wpi.cscore.VideoMode;
public class USBCamera {
private final UsbCamera baseCamera;
private final CameraProperties properties;
public final CameraProperties properties;
public USBCamera(UsbCamera camera) {
baseCamera = camera;