Package org.photonvision.vision.target

Class TargetCalculations

java.lang.Object

org.photonvision.vision.target.TargetCalculations

public class TargetCalculations
extends Object

Constructor Summary

Constructors

Constructor	Description
TargetCalculations()

Method Summary

Modifier and Type	Method	Description
static org.opencv.core.Point	calculateDualOffsetCrosshair(DualOffsetValues dualOffsetValues, double currentArea)
static org.opencv.core.Point	calculateRobotOffsetPoint(org.opencv.core.Point offsetPoint, org.opencv.core.Point camCenterPoint, DualOffsetValues dualOffsetValues, RobotOffsetPointMode offsetMode)
static double	calculateSkew(boolean isLandscape, org.opencv.core.RotatedRect minAreaRect)
static org.opencv.core.Point	calculateTargetOffsetPoint(boolean isLandscape, TargetOffsetPointEdge offsetRegion, org.opencv.core.RotatedRect minAreaRect)
static DoubleCouple	calculateYawPitch(double offsetCenterX, double targetCenterX, double horizontalFocalLength, double offsetCenterY, double targetCenterY, double verticalFocalLength, CameraCalibrationCoefficients cameraCal)	Calculates the yaw and pitch of a point in the image.
static double	getAspectRatio(org.opencv.core.RotatedRect rect, boolean isLandscape)
static DoubleCouple	getLineFromPoints(org.opencv.core.Point firstPoint, org.opencv.core.Point secondPoint)

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Details

TargetCalculations

public TargetCalculations()

Method Details

calculateYawPitch

public static DoubleCouple calculateYawPitch(double offsetCenterX,
 double targetCenterX,
 double horizontalFocalLength,
 double offsetCenterY,
 double targetCenterY,
 double verticalFocalLength,
 CameraCalibrationCoefficients cameraCal)

Calculates the yaw and pitch of a point in the image. Yaw and pitch must be calculated together to account for perspective distortion. Yaw is positive right, and pitch is positive up.

Parameters:

offsetCenterX - The X value of the offset principal point (cx) in pixels

targetCenterX - The X value of the target's center point in pixels

horizontalFocalLength - The horizontal focal length (fx) in pixels

offsetCenterY - The Y value of the offset principal point (cy) in pixels

targetCenterY - The Y value of the target's center point in pixels

verticalFocalLength - The vertical focal length (fy) in pixels

cameraCal - Camera calibration parameters, or null if not calibrated

Returns:

The yaw and pitch from the principal axis to the target center, in degrees.

calculateSkew

public static double calculateSkew(boolean isLandscape,
 org.opencv.core.RotatedRect minAreaRect)

calculateTargetOffsetPoint

public static org.opencv.core.Point calculateTargetOffsetPoint(boolean isLandscape,
 TargetOffsetPointEdge offsetRegion,
 org.opencv.core.RotatedRect minAreaRect)

calculateRobotOffsetPoint

public static org.opencv.core.Point calculateRobotOffsetPoint(org.opencv.core.Point offsetPoint,
 org.opencv.core.Point camCenterPoint,
 DualOffsetValues dualOffsetValues,
 RobotOffsetPointMode offsetMode)

getAspectRatio

public static double getAspectRatio(org.opencv.core.RotatedRect rect,
 boolean isLandscape)

calculateDualOffsetCrosshair

public static org.opencv.core.Point calculateDualOffsetCrosshair(DualOffsetValues dualOffsetValues,
 double currentArea)

getLineFromPoints

public static DoubleCouple getLineFromPoints(org.opencv.core.Point firstPoint,
 org.opencv.core.Point secondPoint)