// +x is right
// +y is down
public double distanceOffset(double x, double y) {
// Image height (px)
double ih = Camera.RESOLUTION_Y_PIXELS;
// Image width (px)
double iw = Camera.RESOLUTION_X_PIXELS;
// Signed distance from center, in y direction (px)
double hv = y - ih / 2;
// signed distance from center, in x direction (px)
double xv = iw / 2 - x;
// Field of view (rad)
double fov = Camera.FOV_Y_RADIANS;
// Distance to virtual image plane (px)
double dv = (1.0 * ih) / (2 * Math.tan(fov / 2));
// Height from camera to goal (in)
double hr = 77.75;
// Angle of inclination of the camera (rad)
double ac = 41 * Math.PI / 180;
// Distance offset from camera to center of rotation (in)
double od = 12;
// Horizontal offset from camera to center of rotation (in)
double ox = 9.25;
// Real distance from center of rotation to goal (in)
double dr = hr / Math.tan(ac - Math.atan(hv / dv)) + od;
// Real offset from center of rotation to goal (in)
double xr = dr * xv / dv + ox;
// Angle from center of rotation to goal (rad)
double a = Math.atan(xr / dr);
// Distance from center of rotation to goal (in)
double d = Math.hypot(dr, xr);
System.out.println("Real Angle: " + a * 180 / Math.PI);
System.out.println("Real dist: " + d);
return a;
}
private void targetAnalysis(
PolygonCv foundTarget, boolean printToNetWorkTable) { // tells the robo info about the target
double offsetXDegrees,
offsetXDegreesIdeal,
targetDistanceInches,
baseDistanceInches,
cameraAngleElevationRadians,
targetAngleRadians,
targetAngleFactor;
// calculates how far off center the target is from the center of the camera
// offsetXDegrees = Math.atan((400 - foundTarget.getCenterX()) *
// Math.tan(Camera.FOV_X_RADIANS/2) / (Camera.RESOLUTION_X_PIXELS/2));
offsetXDegrees =
Math.atan(
(400 - foundTarget.getMinX())
* Math.tan(Camera.FOV_X_RADIANS / 2)
/ (Camera.RESOLUTION_X_PIXELS / 2));
// converts from radians (output of Math) to degrees
offsetXDegrees = Math.toDegrees(offsetXDegrees);
// used to determine size of the target in radians
targetAngleFactor = 2 * Math.tan(Camera.FOV_X_RADIANS / 2) / Camera.RESOLUTION_X_PIXELS;
/* //gets size of target in Radians
targetAngleRadians = Math.atan(((Camera.RESOLUTION_X_PIXELS/2) - foundTarget.getMaxX()) * targetAngleFactor) -
Math.atan(((Camera.RESOLUTION_X_PIXELS/2) - foundTarget.getMinX()) * targetAngleFactor);
//gets degree value of top and bottom points, and finds difference
//targetAngleRadians could be negative, compensates for this
targetAngleRadians = Math.abs(targetAngleRadians);
//gets distance to target
targetDistanceInches = (Target.TAPE_WIDTH_INCHES / 2) / Math.tan(targetAngleRadians);
*/
// use perspective height rather than targetTapeHeight?
// ye olde algorithm
/* targetDistanceInches = (Target.TAPE_WIDTH_INCHES / 2) / Math.tan((Target.TAPE_WIDTH_INCHES / Camera.RESOLUTION_X_PIXELS) * (Camera.FOV_X_RADIANS / 2));
*/
// new old algo
double dpx = (Camera.RESOLUTION_X_PIXELS / 2) / Math.tan(Camera.FOV_X_RADIANS / 2);
double tta = (foundTarget.getWidth() / 2) / dpx;
targetDistanceInches = (Target.TAPE_WIDTH_INCHES) / Math.tan(tta);
// System.out.println(dpx + " " + tta + " " + targetDistanceInches);
// gets elevation of target to camera relative to ground
cameraAngleElevationRadians =
Math.asin((Target.TOWER_HEIGHT_INCHES - Camera.OFFSET_Y_INCHES) / targetDistanceInches);
// gets distance to the base of the target
baseDistanceInches = Math.cos(cameraAngleElevationRadians) * targetDistanceInches;
/* gets 'ideal' target off center angle - because camera is to the side,
* a perfectly zeroed robot will be slightly off from the camera
*/
// if(Camera.OFFSET_X_INCHES != 0) {
// offsetXDegreesIdeal = Math.toDegrees(Math.atan(targetDistanceInches /
// Camera.OFFSET_X_INCHES));
// } else { //will be positive if cameraCenterOffset is negative
// offsetXDegreesIdeal = 0;
// }
// compensates for Ideal angle offset
// offsetXDegrees = offsetXDegrees - offsetXDegreesIdeal;
double camAngle =
fovCalc.pixelFromCenterToDeg(foundTarget.getCenterX() - (Camera.RESOLUTION_X_PIXELS / 2));
double rot = -(robotAngleOffset - camAngle);
// If rotation estimator enabled, use it as a better guess as how much to rotate
if (rotEst != null) {
// Guess at camera position somewhere between 75 and 120 inches from plane
// containing target
double distEst = (75 + 120) / 2;
rot = rotEst.computeRotation(camAngle, distEst);
}
offsetXDegrees = rot; // TODO temporary substitution
// determines if angle values are reasonable
if (offsetXDegrees < (Camera.FOV_X_DEGREES / 2)
&& offsetXDegrees > (-Camera.FOV_X_DEGREES / 2)
&& printToNetWorkTable) {
networkTable.putNumber(
"OffCenterDegreesX",
-Math.toDegrees(distanceOffset(foundTarget.getCenterX(), foundTarget.getCenterY())));
}
System.out.println("Angle: " + offsetXDegrees);
// writes calculated data to network tables
System.out.println("Distance: " + baseDistanceInches);
if (printToNetWorkTable) {
networkTable.putNumber("DistanceToBase", baseDistanceInches);
networkTable.putNumber("DistanceToTarget", targetDistanceInches);
}
// Newest Algorithm
distanceOffset(foundTarget.getCenterX(), foundTarget.getCenterY());
}
