public class CameraFOV
extends java.lang.Object
Constructor and Description |
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CameraFOV(double horAOVrads,
double verAOVrads)
Create a Camera FOV instance
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Modifier and Type | Method and Description |
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static CameraFOV |
defaultFov() |
double |
getAltitude() |
double |
getDiagAOV()
Calculate this camera's diagonal angle of view
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java.util.ArrayList<LocationType> |
getFootprintQuad()
Calculate the area, in the world that this camera is capturing
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LocationType |
getLocation() |
LocationType |
getLookAt()
Calculate the world coordinate that this camera is pointing at, in the ground
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LocationType |
getLookAt(double normalizedScreenX,
double normalizedScreenY)
Retrieve world coordinates from (normalized) camera coords
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double |
getPitch() |
double |
getRoll() |
double |
getTilt() |
double |
getYaw() |
void |
setAltitude(double alt)
Set this camera altitude to the ground
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void |
setLocation(LocationType loc)
Set this camera's location in the world
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void |
setPitch(double pitch)
Set the camera pitch angle
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void |
setRoll(double rollRads)
Set the camera roll angle
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void |
setState(pt.lsts.imc.EstimatedState state)
Set the state of this camera from a vehicle's position (will update position, altitude and all euler angles)
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void |
setState(SystemPositionAndAttitude state)
Set the state of this camera (will update position, altitude and all euler angles)
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void |
setTilt(double tiltRads)
Set the camera's tilt angle (pitch mount angle)
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void |
setYaw(double yaw)
Set the camera yaw angle
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java.lang.String |
toString() |
public CameraFOV(double horAOVrads, double verAOVrads)
horAOVrads
- This camera's horizontal angle of view, in radiansverAOVrads
- This camera's vertical angle of view, in radianspublic static CameraFOV defaultFov()
public LocationType getLookAt(double normalizedScreenX, double normalizedScreenY)
normalizedScreenX
- The horizontal position in the screen. 0 is center, -1 is all the way left and 1 is all the way rightnormalizedScreenY
- The vertical position in the screen. 0 is center, -1 is all the way down and 1 is all the way uppublic double getDiagAOV()
public void setRoll(double rollRads)
rollRads
- roll angle, in radianspublic void setPitch(double pitch)
pitch
- pitch angle, in radianssetTilt(double)
public void setYaw(double yaw)
pitch
- yaw angle, in radianspublic void setAltitude(double alt)
alt
- altitude, in meterspublic void setLocation(LocationType loc)
loc
- camera's world locationpublic double getAltitude()
public double getRoll()
public double getPitch()
public double getYaw()
public LocationType getLocation()
public void setTilt(double tiltRads)
tiltRads
- tilt angle, in radianspublic double getTilt()
public void setState(SystemPositionAndAttitude state)
state
- The state of this camerapublic void setState(pt.lsts.imc.EstimatedState state)
state
- The state to apply to this camerapublic LocationType getLookAt()
public java.util.ArrayList<LocationType> getFootprintQuad()
public java.lang.String toString()
toString
in class java.lang.Object
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