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Further abstract image capture, fix some UI bugs

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This commit is contained in:
Banks Troutman
2019-11-25 05:34:04 -05:00
parent 26e0bb733b
commit ddba967793
23 changed files with 165 additions and 130 deletions
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22
Main/src/main/java/com/chameleonvision/vision/camera/USBCameraProperties.java
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@@ -2,9 +2,9 @@ package com.chameleonvision.vision.camera;
import com.chameleonvision.config.CameraConfig;
import com.chameleonvision.util.Platform;
import com.chameleonvision.vision.image.CaptureProperties;
import edu.wpi.cscore.UsbCamera;
import edu.wpi.cscore.VideoMode;
import org.apache.commons.math3.util.FastMath;
import java.util.Arrays;
import java.util.List;
@@ -12,7 +12,7 @@ import java.util.function.Predicate;
import java.util.stream.Collectors;
import java.util.stream.Stream;
public class USBCameraProperties {
public class USBCameraProperties extends CaptureProperties {
public static final double DEFAULT_FOV = 70;
private static final int DEFAULT_EXPOSURE = 50;
private static final int DEFAULT_BRIGHTNESS = 50;
@@ -26,19 +26,18 @@ public class USBCameraProperties {
private static final Predicate<VideoMode> kMinSizePredicate = (videoMode -> videoMode.width >= MINIMUM_WIDTH && videoMode.height >= MINIMUM_HEIGHT);
private static final Predicate<VideoMode> kPixelFormatPredicate = (videoMode -> ALLOWED_PIXEL_FORMATS.contains(videoMode.pixelFormat));
public CameraStaticProperties staticProperties;
public final String name;
public final String path;
public final List<VideoMode> videoModes;
private final UsbCamera baseCamera;
private final boolean hasGain;
private String nickname;
public double FOV;
public final boolean hasGain;
public USBCameraProperties(UsbCamera baseCamera, CameraConfig config) {
USBCameraProperties(UsbCamera baseCamera, CameraConfig config) {
FOV = config.fov;
name = config.name;
path = config.path;
@@ -86,17 +85,8 @@ public class USBCameraProperties {
return validModes.collect(Collectors.toList());
}
public void updateVideoMode(VideoMode videoMode) {
staticProperties = new CameraStaticProperties(videoMode.width, videoMode.height, FOV);
}
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) {
return FastMath.toDegrees(FastMath.atan((PixelX - centerX) / staticProperties.horizontalFocalLength));
void updateVideoMode(VideoMode videoMode) {
staticProperties = new CaptureStaticProperties(videoMode.width, videoMode.height, FOV);
}
public List<VideoMode> getVideoModes() {